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%0 Report %@ 70 %A Fikes, R.E., Hart, P.E., Nilsson, N.J. %T Learning and Executing Generalized Robot Plans %C 333 Ravenswood Ave, Menlo Park, CA 94025 %I AI Center, SRI International %D 1972 %K Shakey, STRIPS, PLANEX, Robot planning, Learning, Triangle table, Plan execution, Plan generalization %X 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. %O SRI Project 1530 %U http://www.ai.sri.com/pubs/files/tn070-fikes72.pdf

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