Robotic task planning: independent of agents but dependent on time

摘要: A description is given of the AI-TASCS (agent-independent task specification and control system), which designed to describe generate, in a representation independent an agent, plans that can subsequently be translated into agent-dependent instruction suitable for execution. Agents objects are represented object-oriented fashion. Tasks either primitive actions based on movement or abstracted higher level tasks (synonymous with plans) consisting subtasks arranged temporal networks (which allow ambiguity describing orderings). combined form agent-independent plan. Plan translation transforms this plan by validating combination properties constraints specific resulting set instructions executable agent. Planning errors discovered during execution recovered retranslating certain portion plan, translating new generated from point error. maintenance repair Space Station Freedom. >