Towards focused plan monitoring: a technique and an application to mobile robots

M.E. Pollack, C. McCarthy
Proceedings 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automation. CIRA'99 (Cat. No.99EX375)  
Until recently, techniques for AI plan generation relied on highly restrictive assumptions that were almost always violated in real-world environments consequently, robot designers adopted reactive a r c hitectures and avoided AI planning techniques. Some recent research e fforts have focused on obviating such assumptions by developing techniques that enable the generation and execution of plans in dynamic, uncertain environments. In this paper, we d i scuss one such t e c hnique,
more » ... d m o nitoring, originally introduced by V eloso, Pollack, and Cox 9], and describe our use of it in a simple mobile robot environment. We review the original approach, describe how i t c a n b e adapted for a causal-link planner, and provide experimental results demonstrating that it can lead to improved plans without consuming excessive o verhead. We also describe our use of rationale-based monitoring in a mobile robot o ce-assistant project currently in progress.
doi:10.1109/cira.1999.810023 dblp:conf/cira/PollackM99 fatcat:zmxsudycbzchrag7ddmvxaxkpu