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
Note: SRI Project 1530
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 STRIPSeither in whole or in partduring 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.
The fifth project using Shakey as a platform to test/demonstrate AI problems and approaches.
|Fikes, Richard E.||Professor, Stanford Univ.|
|Hart, Peter E||Chairman, President and Founder, Ricoh Innovations|
|Nilsson, Nils J||Alumnus|