Automatic Design of Robot Behaviors through Constraint Network Acquisition

Mathias Paulin, Christian Bessiere, Jean Sallantin
2008 2008 20th IEEE International Conference on Tools with Artificial Intelligence  
Control architectures, such as the LAAS architecture [1] , CLARATY [12] and HARPIC [9], have been developped to provide autonomy to robots. To achieve a robot's task, these control architectures plan sequences of sensorimotor behaviors. Currently carried out by roboticians, the design of sensorimotor behaviors is a truly complex task that can require many hours of hard work and intensive computations. In this paper, we propose a Constraint Programming-based framework to interact with
more » ... act with roboticians during the sensorimotor behaviors design. A constraint network acquisition platform and a CSP-Based planner are used to automatically design sensorimotor behaviors. Moreover, our architecture exploits the propagation properties of the acquired CSPs to supervise the execution of a given sensorimotor behavior. Some experimental results are presented to validate our approach.
doi:10.1109/ictai.2008.83 dblp:conf/ictai/PaulinBS08 fatcat:n3wzadz54zct7nccpm7twd7z54