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http://dx.doi.org/10.5762/KAIS.2011.12.6.2760

Milestone State Generation Methods for Failure Handling of Autonomous Robots  

Han, Hyun-Goo (Department of Computer Science and Engineering, Hankuk University of Foreign Studies)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.12, no.6, 2011 , pp. 2760-2769 More about this Journal
Abstract
An intelligent autonomous robot generates a plan to achieve a goal. A plan is a sequence of robot actions that accomplish a given mission by being successfully executed. However, in the complex and dynamic real world, a robot may encounter unexpected situations and may not execute its planned actions any more. Therefore, an intelligent autonomous robot must prepare an efficient handling process to cope with these situations to successfully complete a given mission. Plan repair with milestone states is an efficient method to cope with the situation. It retains the advantages of other plan repair procedures. This paper proposes a regressive method of formulating milestone states and a method of assigning weighting values on conditions that compose a milestone state. The task to repair a plan may employ the weighting values as its job priority. The regressive method formulates less complex milestone states and leads to the conditions of a milestone state to take pertinent weighting values for an efficient handling procedure to repair a plan with milestone states.
Keywords
Intelligent Autonomous robots; Planning; Actions; Intelligent robots; Plan repair; Regressive methods; Weighting values; Artificial intelligence;
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