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Turning High-Level Plans into Robot Programs in Uncertain Domains

Henrik Grosskreutz, Gerhard Lakemeyer

The actions of a robot like lifting an object are often best thought of as low-level processes with uncertain outcome. A high-level robot plan can be seen as a description of a task which combines these processes in an appropriate way and which may involve nondeterminism in order to increase a plan's generality. In a given situation, a robot needs to turn a given plan into an executable program for which it can establish, through some form of projection, that it satisfies a given goal with some probability. In this paper we will show how this can be achieved in a logical framework. In particular, low-level processes are modelled as programs in \pgolog, a probabilistic variant of the action language \golog. High-level plans are like ordinary \golog\ programs except that during projection the names of low-level processes are replaced by their \pgolog-definitions.

Keywords: Cognitive Robotics, Reasoning about Actions and Change, Planning

Citation: Henrik Grosskreutz, Gerhard Lakemeyer: Turning High-Level Plans into Robot Programs in Uncertain Domains. In W.Horn (ed.): ECAI2000, Proceedings of the 14th European Conference on Artificial Intelligence, IOS Press, Amsterdam, 2000, pp.548-552.

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ECAI-2000 is organised by the European Coordinating Committee for Artificial Intelligence (ECCAI) and hosted by the Humboldt University on behalf of Gesellschaft für Informatik.