Self-Maintenance for Autonomous Robots in the Situation Calculus (bibtex)
by Stefan Schiffer, Andreas Wortmann, Gerhard Lakemeyer
Abstract:
In order to make a robot execute a given task plan more robustly we want to enable it to take care of its self-maintenance requirements during online execution of this program. This requires the robot to know about the (internal) states of its components, constraints that restrict execution of certain actions and possibly also how to recover from faulty situations. The general idea is to implement a transformation process on the plans, which are specified in the agent programming language ReadyLog, to be performed based on explicit (temporal) constraints. Afterwards, a 'guarded' execution of the transformed program should result in more robust behavior.
Reference:
S. Schiffer, A. Wortmann, and G. Lakemeyer. Self-Maintenance for Autonomous Robots in the Situation Calculus, In: Gerhard Lakemeyer, Hector J. Levesque, Fiora Pirri, editors, Cognitive Robotics, Dagstuhl Seminar Proceedings, Dagstuhl, Germany, June 16-17, 2010, Schloss Dagstuhl - Leibniz-Zentrum fuer Informatik, Germany.
Bibtex Entry:
@inproceedings{SWL10,
  author    = {Stefan Schiffer and Andreas Wortmann and Gerhard Lakemeyer},
  title     = {{Self-Maintenance for Autonomous Robots in the Situation Calculus}},
  booktitle = {Cognitive Robotics},
  year      = {2010},
  month     = {June 16-17},
  editor    = {Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  number    = {10081},
  series    = {Dagstuhl Seminar Proceedings},
  ISSN      = {1862-4405},
  publisher = {Schloss Dagstuhl - Leibniz-Zentrum fuer Informatik, Germany},
  address   = {Dagstuhl, Germany},
  URL       = {http://drops.dagstuhl.de/opus/volltexte/2010/2636},
  annote    = {Keywords: Domestic mobile robotics, self-maintenance, robustness},
  abstract  = { In order to make a robot execute a given task plan
                  more robustly we want to enable it to take care of
                  its self-maintenance requirements during online
                  execution of this program. This requires the robot
                  to know about the (internal) states of its
                  components, constraints that restrict execution of
                  certain actions and possibly also how to recover
                  from faulty situations. The general idea is to
                  implement a transformation process on the plans,
                  which are specified in the agent programming
                  language ReadyLog, to be performed based on explicit
                  (temporal) constraints. Afterwards, a 'guarded'
                  execution of the transformed program should result
                  in more robust behavior.},
}
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