Self-Maintenance for Autonomous Robots controlled by ReadyLog (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 plan. This requires the robot to know about the (internal) states of its components, constraints that restrict execution of actions and 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 qualitative temporal constraints. Afterwards, a \textquoterightguarded\textquoteright execution of the transformed program results in more robust behavior.
Reference:
S. Schiffer, A. Wortmann, and G. Lakemeyer. Self-Maintenance for Autonomous Robots controlled by ReadyLog, In: Felix Ingrand, Jeremie Guiochet, editors, Proceedings of the 7th IARP Workshop on Technical Challenges for Dependable Robots in Human Environments, pages 101-107, Toulouse, France, June 16-17, 2010.
Bibtex Entry:
@inproceedings{SWL10a,
	title = {{Self-Maintenance for Autonomous Robots controlled by ReadyLog}},
	booktitle = {Proceedings of the 7th IARP Workshop on Technical Challenges for Dependable Robots in Human Environments},
	year = {2010},
	month = {June 16-17},
	pages = {101--107},
	address = {Toulouse, France},
	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 plan. This requires the robot to know about the (internal) states of its components, constraints that restrict execution of actions and 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 qualitative temporal constraints. Afterwards, a {\textquoteright}guarded{\textquoteright} execution of the transformed program results in more robust behavior.},
	keywords = {Autonomous Robots, ReadyLog, Self-Maintenance, Situation Calculus},
	attachments = {https://kbsg.rwth-aachen.de/sites/kbsg/files/DRHE2010smart.pdf},
	author = {Schiffer, Stefan and Andreas Wortmann and Lakemeyer, Gerhard},
	editor = {Felix Ingrand and Jeremie Guiochet}
}
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