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Progressive Planning for Mobile Robots A Progress Report

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Advances in Plan-Based Control of Robotic Agents

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 2466))

Abstract

In this article, we describe a possibilistic/probabilistic conditional planner called PTLplan, and how this planner can be integrated with a behavior-based fuzzy control system called the Thinking Cap in order to execute the generated plans. Being inspired by Bacchus and Kabanza’s TLplan, PTLplan is a progressive planner that uses strategic knowledge encoded in a temporal logic to reduce its search space. Actions’ effects and sensing can be context dependent and uncertain, and the resulting plans may contain conditional branches. When these plans are executed by the control system, they are transformed into B-plans which essentially are combinations of fuzzy behaviors to be executed in different contexts.

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Author information

Authors and Affiliations

  1. Center for Applied Autonomous Sensor Systems, Örebro University, SE-701 82, Örebro, Sweden

    Lars Karlsson

  2. FG Programmiermethodik, Technische Universität Darmstadt, 64283, Darmstadt, Germany

    Tommaso Schiavinotto

Authors
  1. Lars Karlsson
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  2. Tommaso Schiavinotto
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Editor information

Editors and Affiliations

  1. Institut für Informatik IX, Technische Universität München, Orleansstr. 34, 81667, München, Germany

    Michael Beetz

  2. Fraunhofer-Institut, Autonome Intelligente Systeme (AIS), Schloss Birlinghoven, 53754, Sankt Augustin, Germany

    Joachim Hertzberg

  3. LAAS-CNRS, 7, Avenue du Colonel Roche, 31077, Toulouse cedex, France

    Malik Ghallab

  4. College of Engineering Dept. of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, 48019, USA

    Martha E. Pollack

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© 2002 Springer-Verlag Berlin Heidelberg

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Karlsson, L., Schiavinotto, T. (2002). Progressive Planning for Mobile Robots A Progress Report. In: Beetz, M., Hertzberg, J., Ghallab, M., Pollack, M.E. (eds) Advances in Plan-Based Control of Robotic Agents. Lecture Notes in Computer Science(), vol 2466. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-37724-7_7

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  • DOI: https://doi.org/10.1007/3-540-37724-7_7

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00168-3

  • Online ISBN: 978-3-540-37724-5

  • eBook Packages: Springer Book Archive

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