基于已获得经验的装配故障恢复计划:类比学习

Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470) Pub Date : 1999-07-21 DOI:10.1109/ISATP.1999.782974

L. Lopes

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引用次数: 24

摘要

对于柔性制造和服务应用中的复杂任务，机器人需要对任务和环境进行推理，以便做出决策。本文提出了一种从执行失败中恢复的方法，该方法基于与先前失败恢复事件的类比。解释失败恢复策略成功的基本原则是基于几个演绎和归纳转换提取的。在基于这些学习原理的恢复规划中，应用了逆变换。

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Failure recovery planning in assembly based on acquired experience: learning by analogy

For complex tasks in flexible manufacturing as well as service applications, robots need to reason about the tasks and the environment in order to make decisions. This paper presents a method for recovering from execution failures based on analogies with previous failure recovery episodes. The basic principles that explain the success of a failure recovery strategy are extracted based on several deductive as well as inductive transformations. In recovery planning based on these learned principles, the inverse transformations are applied.

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Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)

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