Using Perception Information for Robot Planning and Execution
Karen Zita Haigh and Manuela M. Veloso,
School of Computer Science, Carnegie Mellon University
AAAI-96 Workshop ``Intelligent Adaptive Agents'', 1996.
We present Rogue, an integrated planning and executing robotic agent. Rogue is
designed to be a roving office gopher, doing tasks such as picking up &
delivering mail and returning & picking up library books, in a setup where
users can post tasks for the robot to do. We have been working towards the goal
of building Rogue as a completely autonomous agent which can learn from its
experiences improving its own behaviour. In this paper, we focus on describing
Rogue's capabilities in executing and processing perception information,
including: (1) the generation and execution of a plan which requires
observation to make informed planning decisions, and (2) the monitoring of
execution for informed replanning. Rogue is implemented and functional on a
real indoor robot.
Also see the more recent Autonomous Robots journal article.