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- W101425344 abstract "One of the current methods for developing task controlsoftware for robots is a layering approach. This approachgenerally consists of a symbolic planner, a task sequencer,and a behavioral robotic controller. The task sequencer isresponsible for taking a command from an abstract planand selecting which robot level actions and behaviors toexecute. This representation leads to a robust functioningsoftware control for a robot and a single task [Bonnassoand Kortenkamp, 1996]. When the robot must bereconfigured for a new task, elements must be added tothe sequencer, and behaviors to the behavioral controller. We are currently developing a decision-theoreticplanner to function as the planning and sequencing layersfor the architecture. It is our expectation that using adecision-theoretic planner as the sequencer will reduce theamount of work to reconfigure for a new task. We willverify the reconfigurability of our system by creating oneset of behavior controllers for our robots anddemonstrating the effectiveness of the controllers onmultiple diverse plans. Nourbakhsh has implemented asimilar system using a symbolic planner in which allplanning was abstracted into three levels [Nourbakhsh,1997]. We choose to incorporate a decision-theoreticplanner instead of a symbolic one to make tradeoffsbetween risk and desire. In addition, this representationallows us to formally reason about the uncertainty that isinherent with robot tasks.Our planner, DT-Graphplan, adds decision theory intothe Graphplan algorithm, extending the domain to handlecontingent and probabilistic actions as well as utilitydriven search. This is an extension of the recent workconducted on extending Graphplan to handle probabilities[Weld et al. 1998]. We incorporate utility reasoning intothe existing multiple world approach that represents theeffect of each action in all possible worlds. Instead ofspecifying a goal criterion, a minimum acceptable utilitythreshold is set for the planner. The planner searches for aplan that meets this minimum threshold, pruning worldstate with low utility values. Requests made to the robotare not represented as goals, but receive a utilitycommensurate with their value, and instigate replanning.Certain elements in a robotic domain are bestrepresented with decision-theoretic methods. One such" @default.
- W101425344 created "2016-06-24" @default.
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- W101425344 date "1999-07-18" @default.
- W101425344 modified "2023-09-24" @default.
- W101425344 title "Decision-theoretic layered robotic control architecture" @default.
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