Adaptive execution in complex dynamic worlds

摘要

A robot acting in the real world must use flexible plans because actions will sometimes fail to produce desired effects, and unexpected events will sometimes demand the robot shift its attention. A plan is usually construed as a list of primitive robot actions to be executed one after another but in a complex domain, a plan must be structured to cope effectively with the myriad unpredictable details it will encounter during execution. However, adding structure to a plan involves more than augmenting the primitive plan representation; it requires a complete model of interaction with the world called situation-driven execution. Situation-driven execution assumes that a plan consists of tasks with three major components: a satisfaction test, a window of activity, and a set of execution methods that are appropriate in different circumstances. Execution of such a plan proceeds by selecting an unsatisfied t...