The task objective is the generalization and implementation of the full power of the problem solving formalism PLANNER in the next two years. We will show how problem solving knowledge can be effectively incorporated into ...

PLANNER is a language for proving theorems and manipulating models in a robot. The language is built out of a number of problem-solving primitives together with a hierarchical control structure. Statements can be asserted ...

The following is a description of SCHEMATISE, a proposal for a program that proves very elementary theorems though the use of planning. The method is most easily explained through an example die to Black.

This thesis presents a new high level robot programming system. The programming system can be used to construct strategies consisting of compliant motions, in which a moving robot slides along obstacles in its ...

An efficient algorithm which finds collision free paths for a manipulator with 5 or 6 revolute joints is described. It solves the problem for four degree of freedom pick and place operations. Examples are given of paths ...

The problem of achieving conjunctive goals has been central to domain independent planning research; the nonlinear constraint-posting approach has been most successful. Previous planners of this type have been comlicated, ...

The idea of planning and plan execution is just an intuition based decomposition. There is no reason it has to be that way. Most likely in the long term, real empirical evidence from systems we know to be built that way ...

The goal of this research is to develop explanation presentation mechanisms for knowledge based systems which enable them to define domain terminology and concepts, narrate events, elucidate plans, processes, or propositions ...

The minimum-time for a robot arm has been a longstanding and unsolved problem of considerable interest. We present a general solution to this problem that involves joint-space tesselation, a dynamic time-scaling ...

A crucial challenge in robotics is achieving reliable results in spite of sensing and control uncertainty. A prominent strategy for dealing with uncertainty is to construct a feedback policy, where actions are chosen as a ...

This paper describes BUILD, a computer program which generates plans for building specified structures out of simple objects such as toy blocks. A powerful heuristic control structure enables BUILD to use a number of ...

This paper describes BUILD, a computer program which generates plans for building specified structures out of simple objects such as toy blocks. A powerful heuristic control structure enables BUILD to use a number of ...

Thinning and breakup of liquid filaments are central to dripping of leaky faucets, inkjet drop formation, and raindrop fragmentation. As the filament radius decreases, curvature and capillary pressure, both inversely ...

We have created a framework for adding custom type qualifiers to the Javalanguage in a backward-compatible way. The type system designer definesthe qualifiers and creates a compiler plug-in that enforces theirsemantics. ...

We present a new method for estimating the expected return of a POMDP from experience. The estimator does not assume any knowle ge of the POMDP and allows the experience to be gathered with an arbitrary set of policies. ...

Message policy is defined to be the description of the disposition of messages of a single type, when received by a group of processes. Group policy applies to all the processes of a group, but for a single message ...

A collection of programs tries to recognize, which one more successfully than its predecessor, 3-dimensional parallelepipeds (solids limited by 6 planes, parallel two-by-two), using as data 2-dimensional idealized projections. ...

We consider the non-uniform multicommodity buy-at-bulknetworkdesign problem. In this problem we are given a graph $G(V,E)$withtwo cost functions on the edges, a buy cost $b:E\longrightarrow \RR^+$and a rent cost$r:E\long ...