Hierarchical Robot Planning and Execution System
by Nilsson, Nils J.
Technical Note 76
Institution: AI Center, SRI International
Address: 333 Ravenswood Ave, Menlo Park, CA 94025
Note: SRI Project 1187. The research reported herein was sponsored by the office of Naval Research under Contract N00014-71-C-0294.This work was done in conjunction with another project supported in part by the Advanced Research Projects Agency through Contract DAHC04-72-C-0008.
This report describes a robot control program consisting of a hierarchically organized plan generation and execution system. The program is written in QA4 and makes use of several features of that language. The usually sharp distinction between robot plan generation and execution is intentionally blurred in this system in that planning and execution phases occur intermixed at various levels of the hierarchy. The system currently exists as a running program that clearly illustrates the concepts involved; major additions and refinements would be necessary if the system were to be used to control an actual robot device.
|Nilsson, Nils J||Alumnus|