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Monitoring the Execution of Temporal Plans for Robotic Systems

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dc.contributor.advisor Brian Williams
dc.contributor.author Levine, Steven J. en_US
dc.contributor.other Model-based Embedded and Robotic Systems en
dc.date.accessioned 2012-10-09T16:45:14Z
dc.date.available 2012-10-09T16:45:14Z
dc.date.issued 2012-10-04
dc.identifier.uri http://hdl.handle.net/1721.1/73686
dc.description MEng thesis en_US
dc.description.abstract To achieve robustness in dynamic and uncertain environments, robotic systems must monitor the progress of their plans during execution. This thesis develops a plan executive called Pike that is capable of executing and monitoring plans. The execution monitor at its core quickly and efficiently detects relevant disturbances that threaten future actions in the plan. We present a set of novel offline algorithms that extract sets of candidate causal links from temporally-flexible plans. A second set of algorithms uses these causal links to monitor the execution online and detect problems with low latency. We additionally introduce the TBurton executive, a system capable of robustly meeting a user s high-level goals through the combined use of Pike and a temporal generative planner. An innovative voice-commanded robot is demonstrated in hardware and simulation that robustly meets high level goals and verbalizes any causes of failure using the execution monitor en_US
dc.format.extent 125 p. en_US
dc.relation.ispartofseries MIT-CSAIL-TR-2012-033
dc.rights Creative Commons Attribution 3.0 Unported en
dc.rights.uri http://creativecommons.org/licenses/by/3.0/
dc.subject temporal plan en_US
dc.subject execution monitoring en_US
dc.subject causal link en_US
dc.subject disturbance en_US
dc.subject executive en_US
dc.title Monitoring the Execution of Temporal Plans for Robotic Systems en_US


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