DagSemProc.10081.15.pdf
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Self-Maintenance for Autonomous Robots in the Situation Calculus
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Dagstuhl Seminar Proceedings, Volume 10081
Series: Dagstuhl Seminar Proceedings (DagSemProc) - License:
Creative Commons Attribution 4.0 International license
- Publication date: 2010-10-27
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Stefan Schiffer, Andreas Wortmann, and Gerhard Lakemeyer. Self-Maintenance for Autonomous Robots in the Situation Calculus. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-8, Schloss Dagstuhl - Leibniz-Zentrum für Informatik (2010)
https://doi.org/10.4230/DagSemProc.10081.15
https://doi.org/10.4230/DagSemProc.10081.15
Abstract
In order to make a robot execute a given task plan more
robustly we want to enable it to take care of its self-maintenance requirements
during online execution of this program. This requires the
robot to know about the (internal) states of its components, constraints
that restrict execution of certain actions and possibly also how to recover
from faulty situations. The general idea is to implement a transformation
process on the plans, which are specified in the agent programming
language ReadyLog, to be performed based on explicit (temporal) constraints.
Afterwards, a ’guarded’ execution of the transformed program
should result in more robust behavior.
Keywords
- Domestic mobile robotics
- self-maintenance
- robustness
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