Advances in Plan-Based Control of Robotic Agents

1. Front Matter

   Pages I-VIII

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2. Plan-Based Multi-robot Cooperation

   • Rachid Alami, Silvia Silva da Costa Bothelho

   Pages 1-20

3. Plan-Based Control for Autonomous Soccer Robots Preliminary Report

   • Michael Beetz, Andreas Hofhauser

   Pages 21-35

4. Reliable Multi-robot Coordination Using Minimal Communication and Neural Prediction

   • Sebastian Buck, Thorsten Schmitt, Michael Beetz

   Pages 36-51

5. Collaborative Exploration of Unknown Environments with Teams of Mobile Robots

   • Wolfram Burgard, Mark Moors, Frank Schneider

   Pages 52-70

6. Mental Models for Robot Control

   • Hans-Dieter Burkhard, Joscha Bach, Ralf Berger, Birger Brunswieck, Michael Gollin

   Pages 71-88

7. Perceptual Anchoring: A Key Concept for Plan Execution in Embedded Systems

   • Silvia Coradeschi, Alessandro Saffiotti

   Pages 89-105

8. Progressive Planning for Mobile Robots A Progress Report

   • Lars Karlsson, Tommaso Schiavinotto

   Pages 106-122

9. Reasoning about Robot Actions: A Model Checking Approach

   • Khaled Ben Lamine, Froduald Kabanza

   Pages 123-139

10. Lifelong Planning for Mobile Robots

    • Maxim Likhachev, Sven Koenig

    Pages 140-156

11. Learning How to Combine Sensory-Motor Modalities for a Robust Behavior

    • Benoit Morisset, Malik Ghallab

    Pages 157-178

12. Execution-Time Plan Management for a Cognitive Orthotic System

    • Martha E. Pollack, Colleen E. McCarthy, Sailesh Ramakrishnan, Ioannis Tsamardinos

    Pages 179-192

13. Path Planning for Cooperating Robots Using a GA-Fuzzy Approach

    • Dilip Kumar Pratihar, Wolfgang Bibel

    Pages 193-210

14. Performance of a Distributed Robotic System Using Shared Communication Channels

    • Paul Rybski, Sascha Stoeter, Maria Gini, Dean Hougen, Nikolaos Papanikolopoulos

    Pages 211-225

15. Use of Cognitive Robotics Logic in a Double Helix Architecture for Autonomous Systems

    • Erik Sandewall

    Pages 226-248

16. The dd&p Robot Control Architecture

    • Frank Schönherr, Joachim Hertzberg

    Pages 249-269

17. Decision-Theoretic Control of Planetary Rovers

    • Shlomo Zilberstein, Richard Washington, Daniel S. Bernstein, Abdel-Illah Mouaddib

    Pages 270-289

18. Back Matter

    Pages 291-291

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In recent years, autonomous robots, including Xavier, Martha [1], Rhino [2,3], Minerva,and Remote Agent, have shown impressive performance in long-term demonstrations. In NASA’s Deep Space program, for example, an - tonomous spacecraft controller, called the Remote Agent [5], has autonomously performed a scienti?c experiment in space. At Carnegie Mellon University, Xavier [6], another autonomous mobile robot, navigated through an o?ce - vironment for more than a year, allowing people to issue navigation commands and monitor their execution via the Internet. In 1998, Minerva [7] acted for 13 days as a museum tourguide in the Smithsonian Museum, and led several thousand people through an exhibition. These autonomous robots have in common that they rely on plan-based c- trol in order to achieve better problem-solving competence. In the plan-based approach, robots generate control actions by maintaining and executing a plan that is e?ective and has a high expected utility with respect to the robots’ c- rent goals and beliefs. Plans are robot control programs that a robot can not only execute but also reason about and manipulate [4]. Thus, a plan-based c- troller is able to manage and adapt the robot’s intended course of action — the plan — while executing it and can thereby better achieve complex and changing tasks.

• agents
• algorithms
• artificial intelligence
• learning
• probabilistic reasoning
• problem solving
• robot
• robotics

• Institut für Informatik IX, Technische Universität München, München, Germany

  Michael Beetz

• Fraunhofer-Institut, Autonome Intelligente Systeme (AIS), Sankt Augustin, Germany

  Joachim Hertzberg

• LAAS-CNRS, Toulouse cedex, France

  Malik Ghallab

• College of Engineering Dept. of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, USA

  Martha E. Pollack

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