A Multivalued Logic Approach to Integrating Planning and Control
SRI INTERNATIONAL MENLO PARK CA ARTIFICIAL INTELLIGENCE CENTER
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Intelligent agents embedded in a dynamic, uncertain environment should incorporate capabilities for both planned and reactive behavior. Many current solutions to this dual need focus on one aspect, and treat the other one as secondary. We propose an approach for integrating planning and control based on control structures, which link physical movements to abstract action descriptions. Control structures induce behaviors of an agent, expressed as trajectories of control actions in an environment, and goals can be defined as predicates on these trajectories. By using the operations of multivalued logic, goals and behaviors can be combined to produce conjoint goals and complex controls. The ability of multi-valued logic to represent intermediate degrees of goal satisfaction allows us to formulate trade-offs between competing goals. A composition theorem relates complex controls to conjoint goals, and provides the key to using standard deliberation procedures to generate complex controllers. We describe experiments ill both planning and run-time deliberation on a mobile robot platform, Flakey.
- Theoretical Mathematics