Conference paper
Goal accomplishment tracking for automatic supervision of plan execution
Australasian Conference on Robotics and Automation (UNSW, Sydney, 02/12/2013–04/12/2013)
2013
Abstract
It is common practice to break down plans into a series of goals or sub-goals in order to facilitate plan execution, thereby only burdening the individual agents responsible for their execution with small, easily achievable objectives at any one time, or providing a simple way of sharing these objectives amongst a group of these agents. Ensuring that plans are executed correctly is an essential part of any team management. To allow proper tracking of an agent's progress through a pre-planned set of goals, it is imperative to keep track of which of these goals have already been accomplished. This centralised approach is essential when the agent is part of a team of humans and/or robots, and goal accomplishment is not always being tracked at a low level. This paper presents a framework for an automated supervision sys- tem to keep track of changes in world states so as to chart progress through a pre-planned set of goals. An implementation of this framework on a mobile service robot is presented, and applied in an experiment which demonstrates its feasibility.
Details
- Title
- Goal accomplishment tracking for automatic supervision of plan execution
- Authors/Creators
- N. Small (Author/Creator)G. Mann (Author/Creator)K. Lee (Author/Creator)
- Conference
- Australasian Conference on Robotics and Automation (UNSW, Sydney, 02/12/2013–04/12/2013)
- Identifiers
- 991005542250407891
- Murdoch Affiliation
- School of Engineering and Information Technology
- Language
- English
- Resource Type
- Conference paper
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