Execution Knowledge for Execution Monitoring: what, why, where and what for?
2014 (English)In: IEEE/RSJ International Conference On Intelligent Robots and Systems (IROS), 2014, 2014Conference paper (Refereed)
Despite the progress made in planning androbotics, autonomous plan execution on a robot remainschallenging. One of the problems is that (classical) plannersuse abstract models which are disconnected from the sensorand actuation information available during execution. Thisconnection is typically created in a non-systematic way by somesystem-specific execution software. In this paper we proposeto explicitly represent Execution Knowledge that encodes theconnection between planning models and the actual actionsand observations for a given physical system. We present anexecution monitoring framework in which Execution Knowl-edge captures the expectations about physical plan execution.A violation of these expectations indicates an execution failure.
Place, publisher, year, edition, pages
Execution Knowledge, Execution Monitoring, Semantic Execution Knowledge, Monitoring Knowledge, Robotics, Service Robotics
Research subject Computer Science
IdentifiersURN: urn:nbn:se:oru:diva-40727DOI: people.csail.mit.edu/gdk/iros-airob14/papers/KonecnyEtAl.pdfOAI: oai:DiVA.org:oru-40727DiVA: diva2:778560
IEEE/RSJ International Conference On Intelligent Robots and Systems (IROS)- Workshop on AI Robotics, Chicago, Illinois, Sept. 14-18, 2014
ProjectsEU-FP7 RACE (Robustness by Autonomous Competence Enhancement)
FunderEU, FP7, Seventh Framework Programme