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Monitoring the Execution of Temporal Plans for Robotic Systems

dc.date.accessioned2012-10-09T16:45:14Z
dc.date.accessioned2018-11-26T22:26:54Z
dc.date.available2012-10-09T16:45:14Z
dc.date.available2018-11-26T22:26:54Z
dc.date.issued2012-10-04
dc.identifier.urihttp://hdl.handle.net/1721.1/73686
dc.identifier.urihttp://repository.aust.edu.ng/xmlui/handle/1721.1/73686
dc.descriptionMEng thesisen_US
dc.description.abstractTo achieve robustness in dynamic and uncertain environments, robotic systems must monitor the progress of their plans during execution. This thesis develops a plan executive called Pike that is capable of executing and monitoring plans. The execution monitor at its core quickly and efficiently detects relevant disturbances that threaten future actions in the plan. We present a set of novel offline algorithms that extract sets of candidate causal links from temporally-flexible plans. A second set of algorithms uses these causal links to monitor the execution online and detect problems with low latency. We additionally introduce the TBurton executive, a system capable of robustly meeting a user s high-level goals through the combined use of Pike and a temporal generative planner. An innovative voice-commanded robot is demonstrated in hardware and simulation that robustly meets high level goals and verbalizes any causes of failure using the execution monitoren_US
dc.format.extent125 p.en_US
dc.rightsCreative Commons Attribution 3.0 Unporteden
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/
dc.subjecttemporal planen_US
dc.subjectexecution monitoringen_US
dc.subjectcausal linken_US
dc.subjectdisturbanceen_US
dc.subjectexecutiveen_US
dc.titleMonitoring the Execution of Temporal Plans for Robotic Systemsen_US


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Creative Commons Attribution 3.0 Unported
Except where otherwise noted, this item's license is described as Creative Commons Attribution 3.0 Unported