Execution monitoring for a mobile robot systemDue to sensor errors, uncertainty, incomplete knowledge, and a dynamic world, robot plans will not always be executed exactly as planned. This paper describes an implemented robot planning system that enhances the traditional sense-think-act cycle in ways that allow the robot system monitor its behavior and react in emergencies in real-time. A proposal on how robot systems can completely break away from the traditional three-step cycle is also made.
Document ID
19910035015
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Miller, David P. (JPL Pasadena, CA, United States)