Quarterly Progress Report on Contract N00014-91-J-1577 (Yale University)
Rept. for Jun-Aug 1993
YALE UNIV NEW HAVEN CT DEPT OF COMPUTER SCIENCE
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Our work on autonomous-agent planning continued on several tracks. One track focused on the development of concepts for runtime planning. Robot planning is concerned with the control of ongoing physical processes in real time. Therefore, planning and execution have to be tightly coupled. the robot controller has to activate the planning process on subtasks if risks, opportunities, or plan failures are detected or necessary information becomes available. It has to interrupt the planner if the world model used by the planar is detected to be outdated. The planner has to swap in its revisions for the plan while the robot controller executes the plan. These interactions require planning and execution to communicate and to synchronize their actions.
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