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| Authors: |
Michael Beetz and Henrik Grosskreutz |
| Article title: |
Causal Models of Mobile Service Robot Behavior |
| Publ. type: |
Article |
| Volume: |
3 |
| Article No: |
5 |
| Language: |
English |
| Abstract [en]: |
Temporal projection, the process of predicting what will happen
when a robot executes its plan, is essential for autonomous service robots
to successfully plan their missions. This paper describes a causal model
of the behavior exhibited by the mobile robot RHINO when running concurrent reactive plans for performing office delivery jobs.
The model represents aspects of robot behavior that cannot be represented
by most action models used in AI planning: it represents the temporal structure
of continuous control processes, several modes of their interferences, and
various kinds of uncertainty. This enhanced expressiveness enables XFRM,
a robot planning system, to predict, and therefore forestall, various kinds
of behavior flaws including missed deadlines whilst exploiting incidental
opportunities. The proposed causal model is experimentally validated using
the robot and its simulator. |
| PDF |
| Publisher: |
Linköping University Electronic Press |
| Year: |
1998 |
| Available: |
1998-02-17 |
| No. of pages: |
8 |
| Series: |
Linköping Electronic Articles in Computer and Information Science |
| ISSN: |
1401-9841 |
REFERENCE TO THIS PAGE:
| Beetz, Michael and Grosskreutz, Henrik (1998). Causal Models of Mobile Service Robot Behavior in Linköping Electronic Articles in Computer and Information Science, Vol. 3. http://www.ep.liu.se/ea/cis/1998/005/.
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