Interleaving Planning and Execution for Autonomous Robots

1. Front Matter

   Pages i-xvii

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2. Introduction

   • Illah Reza Nourbakhsh

   Pages 1-8

3. Perception and Action

   • Illah Reza Nourbakhsh

   Pages 9-19

4. Formalizing Incomplete Information

   • Illah Reza Nourbakhsh

   Pages 21-33

5. Goal-Directed Control Systems

   • Illah Reza Nourbakhsh

   Pages 35-51

6. Interleaving Planning and Execution

   • Illah Reza Nourbakhsh

   Pages 53-64

7. Using Assumptions to Oversimplify

   • Illah Reza Nourbakhsh

   Pages 65-95

8. Strategic Subgoaling: Using Abstraction Systems

   • Illah Reza Nourbakhsh

   Pages 97-121

9. Generalizing Beyond State Sets

   • Illah Reza Nourbakhsh

   Pages 123-129

10. Conclusions

    • Illah Reza Nourbakhsh

    Pages 131-135

11. Back Matter

    Pages 137-145

    PDF

Interleaving Planning and Execution for Autonomous Robots develops a formal representation for interleaving planning and execution in the context of incomplete information. This work bridges the gap between theory and practice in robotics by presenting control architectures that are provably sound, complete and optimal, and then describing real-world implementations of these robot architectures. Dervish, winner of the 1994 AAAI National Robot Contest, is one of the robots featured.
Interleaving Planning and Execution for Autonomous Robots is based on the author's PhD research, covering the same material taught in CS 224, the very popular Introduction to Robot Programming Laboratory taught at Stanford for four years by Professor Michael Genesereth and the author.

• architecture
• artificial intelligence
• autonomous robot
• control
• perception
• programming
• robot
• robotics

• Stanford University, USA

  Illah Reza Nourbakhsh

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