Dysfunction correction by objectives replanning in the robotics applications

A multi-expert conducting system for robotics applications is presented. The authors identify two types of experts whose conducting approach is guided by specific objectives issued from the global application objectives. The authors then expose the organisation of the execution components i.e. command primitives and returned data, in relation to the experts' objectives. An exhaustive definition of the actions and of universe states of the replanning models is given. The authors describe a correction approach based on the execution equivalencies of the model actions.