Finding and exploiting goal opportunities in real-time during plan execution

Paul Schermerhorn; J. Benton; Matthias Scheutz; Kartik Talamadupula; Subbarao Kambhampati

doi:10.1109/IROS.2009.5354119

Finding and exploiting goal opportunities in real-time during plan execution

Paul Schermerhorn, J. Benton, Matthias Scheutz, Kartik Talamadupula, Subbarao Kambhampati

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 Scopus citations

Abstract

Autonomous robots that operate in real-world domains face multiple challenges that make planning and goal selection difficult. Not only must planning and execution occur in real time, newly acquired knowledge can invalidate previous plans, and goals and their utilities can change during plan execution. However, these events can also provide opportunities, if the architecture is designed to react appropriately. We present here an architecture that integrates the SapaReplan planner with the DIARC robot architecture, allowing the architecture to react dynamically to changes in the robot's goal structures.

Original language	English (US)
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	3912-3917
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2009.5354119
State	Published - Dec 11 2009
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States Duration: Oct 11 2009 → Oct 15 2009

Publication series

Name	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/Territory	United States
City	St. Louis, MO
Period	10/11/09 → 10/15/09

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction
Control and Systems Engineering

Access to Document

10.1109/IROS.2009.5354119

Cite this

Schermerhorn, P., Benton, J., Scheutz, M., Talamadupula, K., & Kambhampati, S. (2009). Finding and exploiting goal opportunities in real-time during plan execution. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 3912-3917). Article 5354119 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354119

Finding and exploiting goal opportunities in real-time during plan execution. / Schermerhorn, Paul; Benton, J.; Scheutz, Matthias et al.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 3912-3917 5354119 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Schermerhorn, P, Benton, J, Scheutz, M, Talamadupula, K & Kambhampati, S 2009, Finding and exploiting goal opportunities in real-time during plan execution. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354119, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 3912-3917, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 10/11/09. https://doi.org/10.1109/IROS.2009.5354119

Schermerhorn P, Benton J, Scheutz M, Talamadupula K, Kambhampati S. Finding and exploiting goal opportunities in real-time during plan execution. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 3912-3917. 5354119. (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). doi: 10.1109/IROS.2009.5354119

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Finding and exploiting goal opportunities in real-time during plan execution

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