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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Lyons, D.M. Hendriks, A.J. Mehta, S. |
| Copyright Year | 1991 |
| Description | Author affiliation: North American Philips Corp., Briarcliff Manor, NY, USA (Lyons, D.M.; Hendriks, A.J.; Mehta, S.) |
| Abstract | Classical artificial intelligence planning is not sufficiently robust in uncertain and dynamic environments. Reactive approaches are robust in some environments-namely those for which they have been programmed. An approach that integrates a priori planning with reaction to increase robustness is presented. As motivation, a practical robot problem, the kitting robot, is presented. Solving this problem demands a system that can make timely and robust actions in an uncertain environment. A solution to the kitting robot problem in which planning is cast as adaptation of a reactive system to suit changes in the goals or environment is outlined. The reactive system (the reactor) is based on a formal model for representing flexible robot plans, the RS model. Thus, it was possible to formalize the mechanisms by which the planner improves the behavior of the reactor. This system was implemented to control a Puma-560 robot equipped with visual sensing. |
| Starting Page | 198 |
| Ending Page | 203 |
| File Size | 458952 |
| Page Count | 6 |
| File Format | |
| ISBN | 081862163X |
| DOI | 10.1109/ROBOT.1991.131978 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1991-04-09 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robustness Casting Robotics and automation Production facilities Artificial intelligence Robot sensing systems Uncertainty Robotic assembly Intelligent robots Robot control |
| Content Type | Text |
| Resource Type | Article |
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