SodaJack: An Architecture For Agents That Search For And Manipulate Objects

This paper presents an architecture for agents that search for and manipulate objects It is demonstrated in the SodaJack system a system that animates a human working at a soda fountain The system is constructed as a set of three interacting planners Two of these planners are special purpose modules which contribute context speci c plans for the tasks of searching for and manipu lating objects The search planner is used to convert knowledge acquisition goals into goals of searching locations An object spe ci c reasoner is used to build object sensitive plans for manipulat ing speci c objects Finally an incremental hierarchical planner is used to integrate these two special purpose planners into a complete system which interleaves planning and acting