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Traner - Transformational Planner: Transformational Planning for Autonomous Household Robots Using Libraries of Robust and Flexible Plans
Armin Müller
Traner - Transformational Planner: Transformational Planning for Autonomous Household Robots Using Libraries of Robust and Flexible Plans
Armin Müller
This book investigates the problem of competently accomplishing everyday manipulation activities for autonomous robots as a plan-based control problem. We propose TRANER (TRAnsformational PlanNER) as a plan transformation system for the optimization of everyday activities. TRANER advances the state-of-the-art in three important ways. First, it extends concurrent reactive plan representation to support the specification of robust and transformable plans. Second, it proposes a library of general and flexible plans for a household robot. Third, it provides a suite of general transformation rules that are capable of improving the course of activities in important and novel ways. Comprehensive and extensive experiments in a realistic simulation environment show that transformational planning enables robots to substantially improve their performance by tailoring their course of activity to their tasks, environments, and capabilities.
Media | Książki Paperback Book (Książka z miękką okładką i klejonym grzbietem) |
Wydane | 23 października 2008 |
ISBN13 | 9783838100302 |
Wydawcy | Suedwestdeutscher Verlag fuer Hochschuls |
Strony | 156 |
Wymiary | 217 g |
Język | English German |
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