Download e-book for iPad: Plan-Based Control of Robotic Agents: Improving the by Michael Beetz

By Michael Beetz

ISBN-10: 3540003355

ISBN-13: 9783540003359

Robotic brokers, reminiscent of self sustaining workplace couriers or robotic tourguides, needs to be either trustworthy and effective. therefore, they need to flexibly interleave their projects, make the most possibilities, fast plan their plan of action, and, if worthy, revise their meant activities.

This ebook makes 3 significant contributions to bettering the features of robot agents:

- first, a plan illustration technique is brought which permits for specifying versatile and trustworthy habit

- moment, probabilistic hybrid motion types are provided as a practical causal version for predicting the habit generated through sleek concurrent percept-driven robotic plans

- 3rd, the process XFRMLEARN in a position to studying based symbolic navigation plans is defined in detail.

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Additional resources for Plan-Based Control of Robotic Agents: Improving the Capabilities of Autonomous Robots

Sample text

Utility functions are subjective to the agent and also encode the agent’s attitude towards risks, whether the agent is risk aversing or risk seeking (Koenig and Simmons, 1994; Haddawy and Hanks, 1992). Note, the expectation is taken according to the agent’s own beliefs; thus, perfect rationality does not require omniscience. Resource-Bounded Rationality. Recall that agent functions have to supply the robot with a chosen action in each perception-action cycle. On the other hand, executing the agent function on the robot’s computer, which only provides limited computational resources, might yield the controller arriving at a decision after the decision is needed.

Overview of the Control System hardware components of the robot and the objects in the robot’s operating environment. The purpose of the controlling process is to monitor and influence the evolution of the controlled process so that the controlled process satisfies the given constraints and meets the specified objectives. Using the terminology of control theory, we will denote the controlled process as the plant and the controlling process as the controller. Controlled Process Sensors Plant Robot Behavior Environment Controlling Process "rational agent" Controller Plan Belief State State Estimators and Monitors Fig.

4. Result of a query to a symbolically annotated 3D map. room = A-120 satd maps improve Rhino’s problem solving competence in various ways. For example, Rhino uses satd maps for interpreting locational descriptions of objects to be searched. The locational descriptions are then translated into probability distributions for the locations of objects. 5(b) shows a probability distribution for the location of a letter given that the letter is probably close to a desk. satd maps can also be used to generate occupancy grid maps for robot self-localization.

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Plan-Based Control of Robotic Agents: Improving the Capabilities of Autonomous Robots by Michael Beetz


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