Decision-Theoretic Layered Robotic Control Architecture

Peterson, Gilbert L.; Cook, Diane J.

Decision-Theoretic Layered Robotic Control Architecture

AAAI 1999 pp. 976

/aaai/1999/peterson1999aaai-decision/

Abstract

One of the current methods for developing task control software for robots is a layering approach. This approach generally consists of a symbolic planner, a task sequencer, and a behavioral robotic controller. The task sequencer is responsible for taking a command from an abstract plan and selecting which robot level actions and behaviors to execute. This representation leads to a robust functioning software control for a robot and a single task [Bonnasso and Kortenkamp, 1996]. When the robot must be reconfigured for a new task, elements must be added to the sequencer, and behaviors to the behavioral controller. We are currently developing a decision-theoretic planner to function as the planning and sequencing layers for the architecture. It is our expectation that using a decision-theoretic planner as the sequencer will reduce the

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Text

Peterson and Cook. "Decision-Theoretic Layered Robotic Control Architecture." AAAI Conference on Artificial Intelligence, 1999.

Markdown

[Peterson and Cook. "Decision-Theoretic Layered Robotic Control Architecture." AAAI Conference on Artificial Intelligence, 1999.](https://mlanthology.org/aaai/1999/peterson1999aaai-decision/)

BibTeX

@inproceedings{peterson1999aaai-decision,
  title     = {{Decision-Theoretic Layered Robotic Control Architecture}},
  author    = {Peterson, Gilbert L. and Cook, Diane J.},
  booktitle = {AAAI Conference on Artificial Intelligence},
  year      = {1999},
  pages     = {976},
  url       = {https://mlanthology.org/aaai/1999/peterson1999aaai-decision/}
}