Title :
ROPES: a tool for generating robot plans
Author_Institution :
Dept. of Comput. Sci., California State Univ., Sacramento, CA, USA
Abstract :
The problem of generating plans to be carried out by robots is considered. A tool called ROPES (robot plan generating system) is proposed. The tool is based on modeling STRIPS-like rules by a special type of Petri nets called predicate/transition nets. Analysis techniques of predicate/transition nets are utilized to generate robot plans. The research results indicate that ROPES provides a domain-independent formalism that blends together the concepts of the state of the world, actions, goals and plans; supports conjunctive and hierarchical planning and nonlinear plans; handles the frame problem in an effective way; and offers facilities for monitoring plan execution and recovery
Keywords :
Petri nets; planning (artificial intelligence); robots; Petri nets; ROPES; domain-independent formalism; predicate/transition nets; robot plan generating system; Computer science; Control systems; Logic; Monitoring; Petri nets; Problem-solving; Process planning; Robots; State-space methods;
Conference_Titel :
Industrial Electronics Society, 1990. IECON '90., 16th Annual Conference of IEEE
Conference_Location :
Pacific Grove, CA
Print_ISBN :
0-87942-600-4
DOI :
10.1109/IECON.1990.149139
