Building Symbolic Primitives with Continuous Control Routines (1992)
| Venue: | Artificial Intelligence Planning Systems: Proc. of 1st International Conference |
| Citations: | 35 - 0 self |
BibTeX
@INPROCEEDINGS{Firby92buildingsymbolic,
author = {R. James Firby},
title = {Building Symbolic Primitives with Continuous Control Routines},
booktitle = {Artificial Intelligence Planning Systems: Proc. of 1st International Conference},
year = {1992},
pages = {62--69},
publisher = {Morgan Kaufmann}
}
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Abstract
This paper is about the interface between continuous and symbolic robot control. We advocate describing continuous actions and their related sensing strategies as situation specific activities, which can be manipulated by a symbolic reactive planner. The approach addresses the issues involved in turning symbolic actions into continuous activities, and using task specific sensing routines to support those activities. Situation specific activities help preserve the convenient fiction of "primitive actions" for use in planning without requiring that they all be programmed into the control system in advance. We demonstrate the utility of this architecture with an object tracking example. A control system is presented that can be reconfigured by a the rap reactive executor to achieve different tasks. We show how this system allows us to build interchangeable tracking activities that use different sensing /action feedback loops in different situations. First Internation...
