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.

  • Compressed Postscript (10 pages, 182K)
  • Bibtex Entry
  • Also see the more recent Autonomous Robots journal article.