Plan representations for picking up trash

One of the difficult aspects of building an autonomous system, such as a service robot, is representing the plans needed to carry out tasks in unstructured environments. We outline the plans used by the University of Chicago entry in the 1994 AAAI robot competition. The robot was controlled using the Animate Agent Architecture, and the skills and RAPs presented constitute its task knowledge.

[1]  Robert James Firby,et al.  Adaptive execution in complex dynamic worlds , 1989 .

[2]  Daniel P. Huttenlocher,et al.  Comparing images using the Hausdorff distance under translation , 1992, Proceedings 1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[3]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[4]  Ronald C. Arkin,et al.  Motor schema based navigation for a mobile robot: An approach to programming by behavior , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[5]  Erann Gat,et al.  Reliable goal-directed reactive control of autonomous mobile robots , 1991 .

[6]  David W. Payton,et al.  An architecture for reflexive autonomous vehicle control , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[7]  R. James Firby.  Task Networks for Controlling Continuous Processes , 1994, AIPS.

[8]  Marc G. Slack,et al.  Task Execution: Interfacing to Reactive Skill Networks , 1995 .