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Documents authored by Williams, Brian C.

Document
DOI: 10.4230/DagRep.7.1.32
Planning and Robotics (Dagstuhl Seminar 17031)

Authors: Malik Ghallab, Nick Hawes, Daniele Magazzeni, Brian C. Williams, and Andrea Orlandini

Published in: Dagstuhl Reports, Volume 7, Issue 1 (2017)

Abstract
This report documents the program and the outcomes of Dagstuhl Seminar 17031 on "Planning and Robotics". The seminar was concerned with the synergy between the research areas of Automated Planning & Scheduling and Robotics. The motivation for this seminar was to bring together researchers from the two communities and people from the Industry in order to foster a broader interest in the integration of planning and deliberation approaches to sensory-motor functions in robotics. The first part of the seminar was dedicated to eight sessions composed on several topics in which attendees had the opportunity to present position statements. Then, the second part was composed by six panel sessions where attendees had the opportunity to further discuss the position statements and issues raised in previous sessions. The main outcomes were a greater common understanding of planning and robotics issues and challenges, and a greater appreciation of crossover between different perspectives, i.e., spanning from low level control to high-level cognitive approaches for autonomous robots. Different application domains were also discussed in which the deployment of planning and robotics methodologies and technologies constitute an added value.
Cite as

Malik Ghallab, Nick Hawes, Daniele Magazzeni, Brian C. Williams, and Andrea Orlandini. Planning and Robotics (Dagstuhl Seminar 17031). In Dagstuhl Reports, Volume 7, Issue 1, pp. 32-73, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2017)

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@Article{ghallab_et_al:DagRep.7.1.32,
  author =	{Ghallab, Malik and Hawes, Nick and Magazzeni, Daniele and Williams, Brian C. and Orlandini, Andrea},
  title =	{{Planning and Robotics (Dagstuhl Seminar 17031)}},
  pages =	{32--73},
  journal =	{Dagstuhl Reports},
  ISSN =	{2192-5283},
  year =	{2017},
  volume =	{7},
  number =	{1},
  editor =	{Ghallab, Malik and Hawes, Nick and Magazzeni, Daniele and Williams, Brian C. and Orlandini, Andrea},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagRep.7.1.32},
  URN =		{urn:nbn:de:0030-drops-72451},
  doi =		{10.4230/DagRep.7.1.32},
  annote =	{Keywords: adjustable autonomy, artificial intelligence, automated planning and scheduling, goal reasoning, human-robot interaction, plan execution, robotics}
}
Document
DOI: 10.4230/DagSemProc.10451.1
10451 Abstracts Collection – Runtime Verification, Diagnosis, Planning and Control for Autonomous Systems

Authors: Klaus Havelund, Martin Leucker, Martin Sachenbacher, Oleg Sokolsky, and Brian C. Williams

Published in: Dagstuhl Seminar Proceedings, Volume 10451, Runtime Verification, Diagnosis, Planning and Control for Autonomous Systems (2011)

Abstract
From November 7 to 12, 2010, the Dagstuhl Seminar 10451 ``Runtime Verification, Diagnosis, Planning and Control for Autonomous Systems'' was held in Schloss Dagstuhl~--~Leibniz Center for Informatics. During the seminar, 35 participants presented their current research and discussed ongoing work and open problems. This document puts together abstracts of the presentations given during the seminar, and provides links to extended abstracts or full papers, if available.
Cite as

Klaus Havelund, Martin Leucker, Martin Sachenbacher, Oleg Sokolsky, and Brian C. Williams. 10451 Abstracts Collection – Runtime Verification, Diagnosis, Planning and Control for Autonomous Systems. In Runtime Verification, Diagnosis, Planning and Control for Autonomous Systems. Dagstuhl Seminar Proceedings, Volume 10451, pp. 1-15, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2011)

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@InProceedings{havelund_et_al:DagSemProc.10451.1,
  author =	{Havelund, Klaus and Leucker, Martin and Sachenbacher, Martin and Sokolsky, Oleg and Williams, Brian C.},
  title =	{{10451 Abstracts Collection – Runtime Verification, Diagnosis, Planning and Control for Autonomous Systems}},
  booktitle =	{Runtime Verification, Diagnosis, Planning and Control for Autonomous Systems},
  pages =	{1--15},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2011},
  volume =	{10451},
  editor =	{Klaus Havelund and Martin Leucker and Martin Sachenbacher and Oleg Sokolsky and Brian C. Williams},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10451.1},
  URN =		{urn:nbn:de:0030-drops-29487},
  doi =		{10.4230/DagSemProc.10451.1},
  annote =	{Keywords: Runtime Verification, Model-based Diagnosis, Planning, Control, Autonomous Systems}
}
Document
DOI: 10.4230/DagSemProc.10451.2
10451 Executive Summary – Runtime Verification, Diagnosis, Planning and Control for Autonomous Systems

Authors: Klaus Havelund, Martin Leucker, Martin Sachenbacher, Oleg Sokolsky, and Brian C. Williams

Published in: Dagstuhl Seminar Proceedings, Volume 10451, Runtime Verification, Diagnosis, Planning and Control for Autonomous Systems (2011)

Abstract
From November 7 to 12, 2010, the Dagstuhl Seminar 10451 'Runtime Verification, Diagnosis, Planning and Control for Autonomous Systems' was held in Schloss Dagstuhl – Leibniz Center for Informatics. During the seminar, 35 participants presented their current research and discussed ongoing work and open problems. This document puts together abstracts of the presentations given during the seminar, and provides links to extended abstracts or full papers, if available.
Cite as

Klaus Havelund, Martin Leucker, Martin Sachenbacher, Oleg Sokolsky, and Brian C. Williams. 10451 Executive Summary – Runtime Verification, Diagnosis, Planning and Control for Autonomous Systems. In Runtime Verification, Diagnosis, Planning and Control for Autonomous Systems. Dagstuhl Seminar Proceedings, Volume 10451, pp. 1-4, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2011)

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@InProceedings{havelund_et_al:DagSemProc.10451.2,
  author =	{Havelund, Klaus and Leucker, Martin and Sachenbacher, Martin and Sokolsky, Oleg and Williams, Brian C.},
  title =	{{10451 Executive Summary – Runtime Verification, Diagnosis, Planning and Control for Autonomous Systems}},
  booktitle =	{Runtime Verification, Diagnosis, Planning and Control for Autonomous Systems},
  pages =	{1--4},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2011},
  volume =	{10451},
  editor =	{Klaus Havelund and Martin Leucker and Martin Sachenbacher and Oleg Sokolsky and Brian C. Williams},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10451.2},
  URN =		{urn:nbn:de:0030-drops-29476},
  doi =		{10.4230/DagSemProc.10451.2},
  annote =	{Keywords: Runtime Verification, Model-based Diagnosis, Planning, Control, Autonomous Systems}
}
Document
DOI: 10.4230/DagSemProc.10081.8
Exploiting Spatial and Temporal Flexibility for Exploiting Spatial and Temporal Flexibility for Plan Execution of Hybrid, Under-actuated Systems

Authors: Andreas G. Hofmann and Brian C. Williams

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

Abstract
Robotic devices, such as rovers and autonomous spacecraft, have been successfully controlled by plan execution systems that use plans with temporal flexibility to dynamically adapt to temporal disturbances. To date these execution systems apply to discrete systems that abstract away the detailed dynamic constraints of the controlled device. To control dynamic, under-actuated devices, such as agile bipedal walking machines, we extend this execution paradigm to incorporate detailed dynamic constraints. Building upon prior work on dispatchable plan execution, we introduce a novel approach to flexible plan execution of hybrid under-actuated systems that achieves robustness by exploiting spatial as well as temporal plan flexibility. To accomplish this, we first transform the high-dimensional system into a set of low dimensional, weakly coupled systems. Second, to coordinate these systems such that they achieve the plan in real-time, we compile a plan into a concurrent timed flow tube description. This description represents all feasible control trajectories and their temporal coordination constraints, such that each trajectory satisfies all plan and dynamic constraints. Finally, the problem of runtime plan dispatching is reduced to maintaining state trajectories in their associated flow tubes, while satisfying the coordination constraints. This is accomplished through an efficient local search algorithm that adjusts a small number of control parameters in real-time. The first step has been published previously; this paper focuses on the last two steps. The approach is validated on the execution of a set of bipedal walking plans, using a high fidelity simulation of a biped.
Cite as

Andreas G. Hofmann and Brian C. Williams. Exploiting Spatial and Temporal Flexibility for Exploiting Spatial and Temporal Flexibility for Plan Execution of Hybrid, Under-actuated Systems. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-8, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)

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@InProceedings{hofmann_et_al:DagSemProc.10081.8,
  author =	{Hofmann, Andreas G. and Williams, Brian C.},
  title =	{{Exploiting Spatial and Temporal Flexibility for Exploiting Spatial and Temporal Flexibility for Plan Execution of Hybrid, Under-actuated Systems}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--8},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.8},
  URN =		{urn:nbn:de:0030-drops-27740},
  doi =		{10.4230/DagSemProc.10081.8},
  annote =	{Keywords: }
}
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