Building symbolic primitives with continuous control routines
Proceedings of the first international conference on Artificial intelligence planning systems
A multivalued logic approach to integrating planning and control
Artificial Intelligence - Special volume on planning and scheduling
An architecture for Real-Time Reasoning and System Control
IEEE Expert: Intelligent Systems and Their Applications
Fast Probabilistic Plan Debugging
ECP '97 Proceedings of the 4th European Conference on Planning: Recent Advances in AI Planning
Artificial Intelligence: A Modern Approach
Artificial Intelligence: A Modern Approach
History checking of temporal fuzzy logic formulas for monitoring behavior-based mobile robots
ICTAI '00 Proceedings of the 12th IEEE International Conference on Tools with Artificial Intelligence
The description logic handbook: theory, implementation, and applications
The description logic handbook: theory, implementation, and applications
Intelligent execution monitoring in dynamic environments
Fundamenta Informaticae
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
PEIS ecologies: ambient intelligence meets autonomous robotics
Proceedings of the 2005 joint conference on Smart objects and ambient intelligence: innovative context-aware services: usages and technologies
Plan execution in dynamic environments
IEA/AIE'2005 Proceedings of the 18th international conference on Innovations in Applied Artificial Intelligence
Expressive probabilistic description logics
Artificial Intelligence
Interleaving temporal planning and execution in robotics domains
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Large scale knowledge base systems: an empirical evaluation perspective
AAAI'06 proceedings of the 21st national conference on Artificial intelligence - Volume 2
Dialog-based 3D-image recognition using a domain ontology
SC'06 Proceedings of the 2006 international conference on Spatial Cognition V: reasoning, action, interaction
A tale of two object recognition methods for mobile robots
ICVS'08 Proceedings of the 6th international conference on Computer vision systems
P-CLASSIC: a tractable probablistic description logic
AAAI'97/IAAI'97 Proceedings of the fourteenth national conference on artificial intelligence and ninth conference on Innovative applications of artificial intelligence
Model-Free Execution Monitoring in Behavior-Based Robotics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Intelligent supervision for robust plan execution
AI*IA'11 Proceedings of the 12th international conference on Artificial intelligence around man and beyond
Inferring robot goals from violations of semantic knowledge
Robotics and Autonomous Systems
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Even the best laid plans can fail, and robot plans executed in real world domains tend to do so often. The ability of a robot to reliably monitor the execution of plans and detect failures is essential to its performance and its autonomy. In this paper, we propose a technique to increase the reliability of monitoring symbolic robot plans. We use semantic domain knowledge to derive implicit expectations of the execution of actions in the plan, and then match these expectations against observations. We present two realizations of this approach: a crisp one, which assumes deterministic actions and reliable sensing, and uses a standard knowledge representation system (LOOM); and a probabilistic one, which takes into account uncertainty in action effects, in sensing, and in world states. We perform an extensive validation of these realizations through experiments performed both in simulation and on real robots.