Combined execution and monitoring for control of autonomous agents

摘要

Robots and software agents that have to carry out tasks in the real world often have to initiate actions that involve continuous change. But activity in the real world also involves interacting with continous external processes¯those initiated by the agent and those initiated by other factors in the world. In this paper, we present an architecture called rama, for Routine Activity Management and Analysis, which combines plan execution and process monitoring. rama uses a single process based representation to describe plans, external processes, and the way they must be coordinated. As it goes about performing tasks, rama uses a reactive executor to select actions and make predictions based on stored plans and process models. We illustrate the above behaviors with examples taken from laundry world, a simulation in which rama controls a synthetic agent that does laundry. i Contents 1 Introduction 1 2 Knowing What To Do and What To Expect 1 3 Overview of RAMA's Operation 2 4 Represent...