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Abstract: The importance of solving the problem of integrating deliberative ("planning") capabilities and reactive capabilities when building robust, `real-world' robot systems is becoming widely accepted [4, 12, 22]. This paper presents a solution to this problem: cast planning as the incremental adaptation of a reactive system to suit changes in goals or the environment. Our application domain is a manufacturing problem --- robotic kitting. This paper represents an advance on existing work in two ... (Update)
Context of citations to this paper: More
...[18] and Mataric [17] among others. The Autonomous Robot Architecture (AuRA) 1] Atlantis [5] and the Planner Reactor Architecture [16] are some examples of hybrid control systems. Recently, reactive control systems have gained popularity for controlling mobile robotic...
...control. This is in contrast to behavior based architectures [7, 9, 24, 25] and hybrid deliberative reactive architectures [3, 10, 11, 21, 22, 26] that employ discrete response encoding (enumerated set of responses) and thus, do not emphasize the significance of low level...
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A Reactive Robot Architecture with Planning on Demand - Ananth Ranganathan Sven (2003) (Correct)
Integrated Planning and Control of Mobile Robot with.. - Low, Leow, Ang, Jr. (2002) (Correct)
Behavior-Based Control Systems for Planetary.. - Huntsberger.. (2000) (Correct)
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1.2: Planning by Adaptation: Experimental Results - Lyons, Hendriks (1994) (Correct)
0.7: Representing and Analyzing Action Plans as Networks of Concurrent.. - Lyons (1993) (Correct)
0.6: Testing Incremental Adaptation - Lyons And Hendriks (1994) (Correct)
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0.1: Interleaving Deliberative and Reactive Planning in Dynamic.. - Jensen (1998) (Correct)
0.1: Planning in the Tactical Air Domain - Jones, Wray, van Lent, Laird (1995) (Correct)
0.1: A Schema-Theory Approach to Specifying and Analyzing the Behavior.. - Lyons (1994) (Correct)
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3: Behavior-Based Robotics (context) - Arkin - 1998
2: On three-layer architectures - Gat - 1997
2: A robust layered control system for a mobile robot (context) - Brooks - 1986
BibTeX entry: (Update)
D. Lyons & A. Hendriks, "Planning as incremental adaptation of a reactive system", Robotics and Autonomous Systems, 14(4), 255-288, 1995. http://citeseer.ist.psu.edu/lyons95planning.html More
@article{ lyons93planning,
author = "D. M. Lyons and A. J. Hendriks",
title = "Planning as Incremental Adaptation of a Reactive System",
journal = "Submitted to the Int. Journal on Robotics and Autonomous Systems",
year = "1993",
url = "citeseer.ist.psu.edu/lyons95planning.html" }
Citations (may not include all citations):1364 A robust layered control system for a mobile robot (context) - Brooks - 1986
891 Strips: A new approach to the application of theorem proving.. (context) - Fikes, Nilsson - 1971
444 Towards a general theory of action and time (context) - Allen - 1984
402 An analysis of time-dependent planning (context) - Dean, Boddy - 1987
213 Universal plans for reactive robots in unpredictable environ.. - Schoppers - 1987
142 Adaptive execution in complex dynamic worlds - Firby - 1989
103 Prentice-Hall International Series in Computer Science (context) - Hoare, Processes - 1985
62 A Formal Model of Computation for Sensory-Based Robotics - Lyons, Arbib - 1989
31 Schema theory (context) - Arbib - 1992
28 Representation and Automatic Synthesis of Reaction Plans (context) - Schoppers - 1989
26 perceptual and world knowledge in reactive navigation (context) - Arkin - 1990
19 Alfa: A language for programming reactive robotic control sy.. (context) - Gat - 1991
15 Opportunistic scheduling for robotic assembly (context) - Fox, Kempf - 1985
15 Planning reactive behavior: A progress report (context) - McDermott - 1990
13 line reactive planning for a non-holonomic mobile in a dynam.. - Fraichard, Laugier - 1991
13 A Formal Approach to Planning With Concurrent Actions and Ex.. (context) - Pelavin - 1988
12 Integrating planning and reaction (context) - Bresina, Drummond - 1990
11 A Process-Based Approach to Task-Plan Representation (context) - Lyons - 1990
10 Knowledge strata: Reactive planning with a multi-level archi.. (context) - Spector, Hendler - 1990
9 LOTOS -- A Formal Description Technique Based on the Tempora.. (context) - Brinksma, Editor - 1987
9 Sroma: An adaptive scheduler for robotic assembly systems (context) - Xiaodong, Bekey - 1988
7 Integrating planning and execution in soar (context) - Laird - 1990
7 Representing and analysing action plans as networks of concu.. (context) - Lyons - 1993
7 Technical Report YALEUCSDRR# (context) - plan, Report et al. - 1991
7 Technical Report YALEUCSDRR# (context) - planning, YALEU et al. - 1991
6 Software for analytical development of communication protoco.. (context) - Har'el, Kurshan - 1990
6 Performance analysis of robotic kitting systems (context) - Sellers, Nof - 1989
4 ss: A hybred architecture applied to robot navigation (context) - Connell - 1992
Documents on the same site (http://www.cis.fordham.edu/~lyons/publications.html): More
Reactive Planning - Lyons, Hendriks (1992) (Correct)
Planning and Acting in Real-Time - Lyons, Hendriks (1991) (Correct)
Achieving Robustness by Caszing Planning as Adaptation of a.. - Lyons, al. (Correct)
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