An Architecture for Planning in Embedded Systems

  • Authors:

  • Luca Spalazzi

  • Affiliations:

  • Istituto di Informatica, University of Ancona, Via Brecce Bianche, I-60131 Ancona, Italy. E-mail: spalazzi@inform.unian.it

  • Venue:
  • Applied Intelligence
  • Year:
  • 1998

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Abstract

This work is focused on an architecture for {\it systems\ which\ act\ inside\ an\ unpredictable\ world}({\it embedded\ systems}).Several systems dealing with the above issue have been proposed sofar. We classify them by means of their architectures andalgorithms, obtaining, for example, classical, deferred and reactive planning.From the systems developed up to now, we can point out someof the features that embedded systems must have.Namely, each system must have a {\it flexible\ architecture}, so it can deal with different problems.Each system must allow {\it different\ basic\ activities},i.e., actuators and sensors controlling, plan formation andexecution, and so on.Each system must have a flexible {\it failure\ handling\ mechanism},since no action is guaranteed to succeed.In this paper, we propose a system called {\tt MRG}which addresses the above features.Its architecture has several modules which can be combined indifferent ways depending on the problem.A module performs a basic activity.The system is able to detect and to react to failures.The architecture allows {\tt MRG} a parallel activation of modules and a quick reaction to external events.The control of the architecture is reached by means of a planning language which has a small set of powerful control structures. {\tt MRG} has been experimented in a complexlarge-scale application.