Planning and Acting with Temporal and Hierarchical Decomposition Models

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216208%3A11320%2F14%3A10283634" target="_blank" >RIV/00216208:11320/14:10283634 - isvavai.cz</a>

Výsledek na webu

<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6984463" target="_blank" >http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6984463</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ICTAI.2014.27" target="_blank" >10.1109/ICTAI.2014.27</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Planning and Acting with Temporal and Hierarchical Decomposition Models

Popis výsledku v původním jazyce

This paper reports on FAPE (Flexible Acting and Planning Environment), a framework integrating acting and planning on the basis of the ANML modeling language. ANML is a recent proposal motivated by combining the expressiveness of the timeline representation with decomposition methods of Hierarchical Task Networks (HTN). Our current focus is not efficient temporal planning per se, but the tight integration of acting and planning. This integration is addressed by: (i) extending HTN methods with the refinement of planned actions with skills, expressed in PRS, to map actions into low-level commands, (ii) interleaving the planning process with acting, the former performs plan repair and replanning, while the latter implements the skill-based refinements, and (iii) executing commands with a dispatching mechanism that synchronizes observed time points of action effects and events with planned time. FAPE has been integrated to a PR2 robot and experimented in a home-like environment. The paper

Název v anglickém jazyce

Planning and Acting with Temporal and Hierarchical Decomposition Models

Popis výsledku anglicky

This paper reports on FAPE (Flexible Acting and Planning Environment), a framework integrating acting and planning on the basis of the ANML modeling language. ANML is a recent proposal motivated by combining the expressiveness of the timeline representation with decomposition methods of Hierarchical Task Networks (HTN). Our current focus is not efficient temporal planning per se, but the tight integration of acting and planning. This integration is addressed by: (i) extending HTN methods with the refinement of planned actions with skills, expressed in PRS, to map actions into low-level commands, (ii) interleaving the planning process with acting, the former performs plan repair and replanning, while the latter implements the skill-based refinements, and (iii) executing commands with a dispatching mechanism that synchronizes observed time points of action effects and events with planned time. FAPE has been integrated to a PR2 robot and experimented in a home-like environment. The paper

Druh

D - Stať ve sborníku

CEP obor

IN - Informatika

OECD FORD obor

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Projekt

<a href="/cs/project/GAP103%2F10%2F1287" target="_blank" >GAP103/10/1287: PlanEx: Propojení plánování a provádění plánů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2014

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of 26th International Conference on Tools with Artificial Intelligence (ICTAI 2014)

ISBN

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ISSN

1082-3409

e-ISSN

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Počet stran výsledku

7

Strana od-do

115-121

Název nakladatele

IEEE

Místo vydání

New York

Místo konání akce

Limassol, Cyprus

Datum konání akce

10. 11. 2014

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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