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New PDF release: Advances in Plan-Based Control of Robotic Agents:

By Rachid Alami, Silvia Silva da Costa Bothelho (auth.), Michael Beetz, Joachim Hertzberg, Malik Ghallab, Martha E. Pollack (eds.)

ISBN-10: 3540001689

ISBN-13: 9783540001683

ISBN-10: 3540377247

ISBN-13: 9783540377245

In contemporary years, self reliant robots, together with Xavier, Martha [1], Rhino [2,3], Minerva,and distant Agent, have proven extraordinary functionality in long term demonstrations. In NASA’s Deep house software, for instance, an - tonomous spacecraft controller, known as the distant Agent [5], has autonomously played a scienti?c scan in area. At Carnegie Mellon collage, Xavier [6], one other independent cellular robotic, navigated via an o?ce - vironment for greater than a 12 months, permitting humans to factor navigation instructions and display screen their execution through the net. In 1998, Minerva [7] acted for thirteen days as a museum tourguide within the Smithsonian Museum, and led numerous thousand humans via an exhibition. those self sustaining robots have in universal that they depend on plan-based c- trol with a purpose to in achieving higher problem-solving competence. within the plan-based procedure, robots generate keep an eye on activities via preserving and executing a plan that's e?ective and has a excessive anticipated software with appreciate to the robots’ c- hire objectives and ideology. Plans are robotic regulate courses robotic cannot merely execute but in addition cause approximately and control [4]. therefore, a plan-based c- troller is ready to deal with and adapt the robot’s meant plan of action — the plan — whereas executing it and will thereby larger in achieving advanced and altering tasks.

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Additional resources for Advances in Plan-Based Control of Robotic Agents: International Seminar Dagstuhl Castle, Germany, October 21–26, 2001 Revised Papers

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The contributions of this preliminary report on the application of plan-based control techniques to the robotic soccer application are the following ones. First, we present concurrent reactive multi-robot plans for performing complex plays in robotic soccer. Second, we describe and discuss how these plans can be designed to allow for a reliable execution of plays and a smooth and proper integration of plays in the default playing behavior. The plan schemata are designed such that they are reactive, general, and transparent.

1 Simulation Experiments In the RoboCup simulation environment a soccer team consists of 11 autonomous software agents communicating with a server program [15,20]. The agents receive sensory data and send low level control commands. Using the Karlsruhe Brainstormers agent of RoboCup 1999 [21] as a basis for our experiments each robot can avail itself of a set of actions Reliable Multi-robot Coordination 45 A = {shoot2goal,pass2player,dribble,receive pass,go2ball,offer4pass,gohome} which are mapped to low level commands by the agent.

Dribblings are indicated by double lines, passes by dotted lines, and running by single lines Specifying such plays as robot plans requires careful engineering. First, when the team intends to make the play the role of the play maker and the left wing player have to be assigned to the most appropriate robots. The second issue is the specification of the locations where the play maker should pass the ball from and where the left wing player should wait for the ball. Obviously, we should not specify these locations accurately before executing the play.

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Advances in Plan-Based Control of Robotic Agents: International Seminar Dagstuhl Castle, Germany, October 21–26, 2001 Revised Papers by Rachid Alami, Silvia Silva da Costa Bothelho (auth.), Michael Beetz, Joachim Hertzberg, Malik Ghallab, Martha E. Pollack (eds.)


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