作者: Marc G. Slack
DOI: 10.1117/12.131666
关键词:
摘要: Construction of robots which operate in unstructured environments has late produced a number approaches for transforming sensor readings into activity the world. Most these provide no formal semantics discussing way internal state robot maps to desired We have been investigating use GAPPS programming language as mechanism defining robotic reactions. This work resulted creation reactive modules mediate between discrete statements about world states achieve or maintain and required continuous activity. While relatively complex goals achieved with this approach, syntax is inappropriate complicated dynamically changing goals. As result, we begun Reactive Action Packages (RAPs) sequencing activation GAPPS-based skills. The motivation using RAPs twofold. First, integrates smoothly traditional non-linear planning system, allowing construction execution plans increasingly tasks. Second, reactions fulfill missing component RAPs-based controller namely transformation RAP primitives (e.g., (maintain grasp ?thing)) physical paper presents approach are taking discusses some issues involved integrating two systems.© (1992) COPYRIGHT SPIE--The International Society Optical Engineering. Downloading abstract permitted personal only.