Finding and exploiting goal opportunities in real-time during plan execution

— Autonomous robots that operate in real-world domains face multiple challenges that make planning and goal selection difficult. Not only must planning and execution occur in real time, newly acquired knowledge can invalidate previous plans, and goals and their utilities can change during plan execution. However, these events can also provide opportunities, if the architecture is designed to react appropriately. We present here an architecture that integrates the SapaReplan planner with the DIARC robot architecture, allowing the architecture to react dynamically to changes in the robot’s goal structures.

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Paul W. Schermerhorn, J. Benton, Matthias Scheutz, Kartik Talamadupula, Subbarao Kambhampati
• Keywords: DIARC Robot Architecture, Goal Selection Difficult, IROS 2009, Robotics, Robot’s Goal Structures