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Título: A new approach to the automatic robot action planning problem
Autores: Noorhosseini, Seyed Majid
Fecha: 1994
Publicador: McGill University - MCGILL
Fuente:
Tipo: Electronic Thesis or Dissertation
Tema: Engineering, Electronics and Electrical.
Artificial Intelligence.
Descripción: Action planning ability is essential for autonomous behavior of an intelligent machine. In the robotics domain, planning occurs at different levels of a robotic system; this research targets the problem of planning at the highest level of the hierarchy which is planning a course of actions to accomplish a task. Planning at this level is extremely complex due to the many combinatorial problems that must be solved before a real world plan can be formulated. Two major approaches have been adopted by the researchers: domain independent approaches and application dependent approaches. We believe that a completely domain independent planner is not feasible and an application dependent planner is too restrictive. This research effort focuses on developing a planning system which combines that advantages of the two approaches. We have outline a clear boundary between the domain independent and domain dependent modules of the planner and developed a framework for proper interaction of the two. A new representation scheme which used the inter-relationships of objects to model the world is proposed. Two classes of non-linear planning problems, monotone planning problems and non-monotone planning problems are identified and new generic algorithms are proposed to solve these problems. These algorithms, which are based on our new representation scheme, are sound and complete and embody a mechanism for incorporation of the domain knowledge in an algorithmic fashion. Based on these theoretical developments, a planning system is implemented which includes an expert system to find the task constraints, a graphic user interface and a simple workcell simulator for execution and verification of the generated plan. The robotic assembly domain is chosen as an application domain and the planning system is tested on variety of assembly examples.
Idioma: en