Christopher W. Geib. Intentions in Means-End Planning. Technical Report MC-CIS-92-73, University of Pennsylvania, 1992. 168  Home/Search   Document Details and Download   Summary   Related Articles   Check

....and Lansky, 1987] The PRS system is used to control the robot Flakey as it performs navigational tasks. The PRS system uses a meta reasoning system that selects, at run time, an action to perform, depending on the current goals of the system. Geib s Intentional Planning System (ItPlanS) [Geib, 1992; Geib, 1994] is a hierarchical planner that interleaves planning and action. ItPlanS uses sensors to test the state of the world, to gather additional information and to decide which plan is most appropriate to achieve the given goal. It uses the situation and the intention governing the action ....

....terminated successfully (check result) This is a variation of execution monitoring (at the level of behaviors, and not individual motions) as will be discussed in Section 6.2. Similar sub goal checking is used at a higher level of granularity in work by, e.g. McDermott, 1978; Firby, 1989; Geib, 1992] and at a lower level by [Dean et al. 1994; Becket, 1994] The advantage of using sensors to monitor actions is that subsequent actions are not invoked in the case that an early action fails. 4. Add sensing operations to the plan to acquire information needed to evaluate a conditional branch ....

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Christopher W. Geib. Intentions in Means-End Planning. Technical Report MC-CIS-92-73, University of Pennsylvania, 1992. 168

....and the OSR A prototype of the OSR exists in Lucid Common LISP. The OSR takes a taskaction, with the object references fully resolved, and generates a set of motion directives to send to the simulator. The modules sketched above are implemented by: the Intentional Planning System (ItPlanS) Gei92] decomposes high level plans into task actions, and object reference resolution and object locating is performed by Search Plans [Moo93] Finally, agent and object motion simulation, and perceptual requests about the current state of the world will be handled through the Behavioral Simulator ....

Christopher W. Geib. Intentions in means-end planning. Technical Report MC-CIS-92-73, University of Pennsylvania, 1992.

....world state and a partial hierarchical plan that is regularly revised. The action execution module controls locomotion via the Stepper system, enabling it to react to unexpected events such as moving obstacles, changing terrain, or a moving goal [Reich et al. 1994] 5. 3 Planning in zaroff ItPlanS [Geib, 1992] is a hierarchical planner, in which hierarchical expansion only takes place to the degree necessary to determine the next action to be carried out. It consists in an incremental expansion of the frontier of the plan structure to successively lower levels of abstraction. The incremental nature of ....

Geib, C.W. (1992) Intentions in means-end planning. Technical Report MSCIS -92-73, Department of Computer and Information Science, University of Pennsylvania.

....home base. If they successfully arrive home, they wait until the start of the next game when their behavior resets. If one is caught, the first one caught adopts the behavior of the seeker. These high level goals are quickly translated into situationally appropriate reactive behaviors by ItPlanS (Geib 1992), a hierarchical planner. ItPlanS interleaves hierarchical expansion with action execution. It does this by using an incremental left to right expansion of the frontier of the plan structure to successively lower levels of abstraction. Thus planning only takes place to the degree necessary to ....

Geib, C. 1992. Intentions in means-end planning.

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