On-line robot execution monitoring using probabilistic action duration

Authors:
V. A. Ziparo;L. Iocchi;M. Leonetti;D. Nardi
Affiliations:
Dipartimento di Informatica e Sistemistica, Rome, Italy;Dipartimento di Informatica e Sistemistica, Rome, Italy;Dipartimento di Informatica e Sistemistica, Rome, Italy;Dipartimento di Informatica e Sistemistica, Rome, Italy
Venue:
Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1 - Volume 1
Year:
2010

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Abstract

The execution of tasks for a mobile robot embedded in a dynamic environment brings about several challenges, due to the dynamic changes of the environment and the inaccurate perception of the robot. This paper tackles the problem of on-line execution monitoring when the agent has different tasks and several plan to accomplish them, as in the BDI framework. Our method considers uncertainty in the duration of actions with a probabilistic model of action duration, and evaluates the cost of each possible plan at run-time in terms of probability of successful termination within a desired expected time.