Adaptive selection of reactive/deliberate planning for a dynamic environment

Satoshi Kurihara, Shigemi Aoyagi, Rikio Onai, Toshiharu Sugawara

研究成果: Article査読

4 被引用数 (Scopus)

抄録

This paper proposes and evaluates a new real-time reactive planning approach for a dynamic environment. In addition to having the features of conventional real-time reactive planning, which can react in a dynamic environment, our planning can perform deliberate planning appropriately. The proposed planning uses three kinds of agents: behavior agents that control simple behavior, planning agents that make plans to achieve their own goals, and behavior-selection agents that intermediate between behavior agents and planning agents. They coordinate a plan in an emergent way for the planning system as a whole. We confirmed the effectiveness of our planning by means of a simulation. Furthermore, we implemented an active-vision system and used it to verify the real-world efficiency of our planning.

本文言語English
ページ(範囲)183-195
ページ数13
ジャーナルRobotics and Autonomous Systems
24
3-4
DOI
出版ステータスPublished - 1998 9 30
外部発表はい

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • 数学 (全般)
  • コンピュータ サイエンスの応用

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