Declarative goals in reactive plans
Proceedings of the first international conference on Artificial intelligence planning systems
An autonomous spacecraft agent prototype
AGENTS '97 Proceedings of the first international conference on Autonomous agents
Map learning and high-speed navigation in RHINO
Artificial intelligence and mobile robots
The interactive museum tour-guide robot
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
KI '98 Proceedings of the 22nd Annual German Conference on Artificial Intelligence: Advances in Artificial Intelligence
Expressing Transformations of Structured Reactive Plans
ECP '97 Proceedings of the 4th European Conference on Planning: Recent Advances in AI Planning
The Behavior Language: User''s Guide
The Behavior Language: User''s Guide
Active mobile robot localization
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
The AGILO autonomous robot soccer team: computational principles, experiences, and perspectives
Proceedings of the first international joint conference on Autonomous agents and multiagent systems: part 2
RoboCup 2001: Robot Soccer World Cup V
Plan-Based Control for Autonomous Soccer Robots (Preliminary Report)
Revised Papers from the International Seminar on Advances in Plan-Based Control of Robotic Agents,
Logic-based robot control in highly dynamic domains
Robotics and Autonomous Systems
Probabilistic hybrid action models for predicting concurrent percept-driven robot behavior
Journal of Artificial Intelligence Research
Refining the execution of abstract actions with learned action models
Journal of Artificial Intelligence Research
Plan-based control of robotic agents: improving the capabilities of autonomous robots
Plan-based control of robotic agents: improving the capabilities of autonomous robots
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Towards performing everyday manipulation activities
Robotics and Autonomous Systems
A multi-expert model for dialogue and behavior control of conversational robots and agents
Knowledge-Based Systems
On the way to high-level programming for resource-limited embedded systems with Golog
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Caesar: an intelligent domestic service robot
Intelligent Service Robotics
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Service robots, such as autonomous office couriers or robot tourguides, must be both reliable and efficient. This requires them to flexibly interleave their tasks, exploit opportunities, quickly plan their course of action, and, if necessary, revise their intended activities. In this paper, we show how structured reactive controllers (SRCs) satisfy these requirements. The novel feature of SRCs is that they employ and reason about plans that specify and synchronize concurrent percept-driven behavior. Powerful control abstractions enable SRCs to integrate physical action, perception, planning, and communication in a uniform framework and to apply fast but imperfect computational methods without sacrificing reliability and flexibility. Concurrent plans are represented in a transparent and modular form so that automatic planning processes can reason about the plans and revise them. We present experiments in which SRCs are used to control two autonomous mobile robots. In one of them an SRC controlled the course of action of a museum tourguide robot that has operated for thirteen days, more than ninetyfour hours, completed 620 tours, and presented 2668 exhibits.