ROPES:生成机器人计划的工具

[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI:10.1109/IECON.1990.149139

D. Zhang

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引用次数: 3

摘要

考虑了机器人执行计划的生成问题。提出了一种机器人计划生成系统(ROPES)。该工具基于通过称为谓词/转换网的特殊类型的Petri网对类似stripe的规则进行建模。利用谓词/转换网络的分析技术生成机器人计划。研究结果表明，ROPES提供了一种独立于领域的形式体系，将世界状态、行动、目标和计划等概念融合在一起;支持联合和分层规划和非线性规划;有效处理框架问题;并提供监控计划执行和恢复的设施

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ROPES: a tool for generating robot plans

The problem of generating plans to be carried out by robots is considered. A tool called ROPES (robot plan generating system) is proposed. The tool is based on modeling STRIPS-like rules by a special type of Petri nets called predicate/transition nets. Analysis techniques of predicate/transition nets are utilized to generate robot plans. The research results indicate that ROPES provides a domain-independent formalism that blends together the concepts of the state of the world, actions, goals and plans; supports conjunctive and hierarchical planning and nonlinear plans; handles the frame problem in an effective way; and offers facilities for monitoring plan execution and recovery.<>

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来源期刊

[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society

CiteScore

1.40

自引率

0.00%

发文量