Recovering From Execution Errors in SIPE
by Wilkins, David E.
Technical Note 346
Institution: AI Center, SRI International
Address: 333 Ravenswood Ave, Menlo Park, CA 94025
Note: Supersedes TN 341. SRI Project 8871. Air Force contract F49620-79-C-0188.
In real-world domains (e.g., a mobile robot environment), things do not always proceed as planned, so it is important to develop better execution-monitoring techniques and replanning capabilities. This paper describes these capabilities in the SIPE planning system. The motivation behind SIPE is to place enough limitations on the representation so that planning can be done efficiently, while retaining sufficient power to still be useful. This work assumes that new information given to the execution monitor is in the form of predicates, thus avoiding the difficult problem of how to generate these predicates from information provided by sensors.
|Wilkins, David E||Senior Computer Scientist|