Publication Details

Learning and Executing Generalized Robot Plans

by Fikes, R.E., Hart, P.E., Nilsson, N.J.

Technical Note 70
Institution: AI Center, SRI International
Address: 333 Ravenswood Ave, Menlo Park, CA 94025
Jul 1972.

Note: SRI Project 1530

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Abstract

In this paper we describe some major new additions to the STRIPS robot problem-solving system. The first addition is a process for generalizing a plan produced by STRIPS so that problem-specific constants appearing in the plan are replaced by problem-independent parameters.

The generalized plan, stored in a convenient format called a trianqle table has two important functions. The more obvious function is as a single macro action that can be used by STRIPS—either in whole or in part—during the solution of a subsequent problem. Perhaps less obviously, the generalized plan also plays a central part in the process that monitors the real-world execution of a plan, and allows the robot to react “intelligently” to unexpected consequences of actions.

We conclude with a discussion of experiments with the system on several example problems.

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Associated Projects

Artificial Intelligence – Research and Applications The fifth project using Shakey as a platform to test/demonstrate AI problems and approaches.

AIC Personnel

	Name	Title	E-mail
	Fikes, Richard E.	Professor, Stanford Univ.
	Hart, Peter E.	Chairman, President and Founder, Ricoh Innovations
	Nilsson, Nils J	Alumnus