Integrating a closed world planner with an open world robot: A case study

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

In this paper, we present an integrated planning and robotic architecture that actively directs an agent engaged in an urban search and rescue (USAR) scenario. We describe three salient features that comprise the planning component of this system, namely (1) the ability to plan in a world open with respect to objects, (2) execution monitoring and replanning abilities, and (3) handling sof t goals, and detail the interaction of these parts in representing and solving the USAR scenario at hand. We show that though insufficient in an individual capacity, the integration of this trio of features is sufficient to solve the scenario that we present. We test our system with an example problem that involves sof t and hard goals, as well as goal deadlines and action costs, and show that the planner is capable of incorporating sensing actions and execution monitoring in order to produce goal-fulfilling plans that maximize the net benefit accrued.

Original languageEnglish (US)
Title of host publicationProceedings of the National Conference on Artificial Intelligence
Pages1561-1566
Number of pages6
Volume3
StatePublished - 2010
Externally publishedYes
Event24th AAAI Conference on Artificial Intelligence and the 22nd Innovative Applications of Artificial Intelligence Conference, AAAI-10 / IAAI-10 - Atlanta, GA, United States
Duration: Jul 11 2010Jul 15 2010

Other

Other24th AAAI Conference on Artificial Intelligence and the 22nd Innovative Applications of Artificial Intelligence Conference, AAAI-10 / IAAI-10
CountryUnited States
CityAtlanta, GA
Period7/11/107/15/10

Fingerprint

Robots
Planning
Monitoring
Robotics
Costs

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence

Cite this

Talamadupula, K., Benton, J., Schermerhorn, P., Kambhampati, S., & Scheutz, M. (2010). Integrating a closed world planner with an open world robot: A case study. In Proceedings of the National Conference on Artificial Intelligence (Vol. 3, pp. 1561-1566)

Integrating a closed world planner with an open world robot : A case study. / Talamadupula, Kartik; Benton, J.; Schermerhorn, Paul; Kambhampati, Subbarao; Scheutz, Matthias.

Proceedings of the National Conference on Artificial Intelligence. Vol. 3 2010. p. 1561-1566.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Talamadupula, K, Benton, J, Schermerhorn, P, Kambhampati, S & Scheutz, M 2010, Integrating a closed world planner with an open world robot: A case study. in Proceedings of the National Conference on Artificial Intelligence. vol. 3, pp. 1561-1566, 24th AAAI Conference on Artificial Intelligence and the 22nd Innovative Applications of Artificial Intelligence Conference, AAAI-10 / IAAI-10, Atlanta, GA, United States, 7/11/10.
Talamadupula K, Benton J, Schermerhorn P, Kambhampati S, Scheutz M. Integrating a closed world planner with an open world robot: A case study. In Proceedings of the National Conference on Artificial Intelligence. Vol. 3. 2010. p. 1561-1566
Talamadupula, Kartik ; Benton, J. ; Schermerhorn, Paul ; Kambhampati, Subbarao ; Scheutz, Matthias. / Integrating a closed world planner with an open world robot : A case study. Proceedings of the National Conference on Artificial Intelligence. Vol. 3 2010. pp. 1561-1566
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