Anytime Sensing Planning and Action: A Practical Model for Robot Control
Proceedings of the Thirteenth International Joint Conference on Artificial Intelligence. Planning. Pages 1402-1406.
Abstract
Anytime algorithms, whose quality of results improves gradually as computation time increases, provide useful performance components for timecritical planning and control of robotic systems. In earlier work, we introduced a compilation scheme for optimal composition of anytime algorithms. In this paper we present an implementation of a navigation system in which an off-line compilation process and a run-time monitoring component guarantee the optimal allocation of time to the anytime modules. The crucial meta-level knowledge is kept in the anytime library in the form of conditional performance profiles. We also extend the notion of gradual improvement to sensing and plan execution. The result is an efficient, flexible control for robotic systems that exploits the tradeoff between time and quality in planning, sensing and plan execution.
@inproceedings{ijcai1993p194,
title = {Anytime Sensing Planning and Action: A Practical Model for Robot Control},
author = {Zilberstein, Shlomo and Russell, Stuart J.},
booktitle = {Proceedings of the Thirteenth International Joint Conference on
Artificial Intelligence, {IJCAI-93}},
publisher = {International Joint Conferences on Artificial Intelligence},
editor = {Ruzena Bajcsy},
pages = {1402--1406},
year = {1993},
note = {Planning},
url = {https://ijcai.org/proceedings/1993/194},
}
TY - CPAPER TI - Anytime Sensing Planning and Action: A Practical Model for Robot Control AU - Zilberstein, Shlomo AU - Russell, Stuart J. T2 - Proceedings of the Thirteenth International Joint Conference on Artificial Intelligence, IJCAI-93 PB - International Joint Conferences on Artificial Intelligence PY - 1993 SP - 1402 EP - 1406 UR - https://ijcai.org/proceedings/1993/194 ER -Copied
Machine-readable versions of this paper, for tools and AI agents:
