Anytime sensing, planning and action: A practical model for robot control (1993) [50 citations — 18 self]
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@INPROCEEDINGS{Zilberstein93anytimesensing,,author = {Shlomo Zilberstein and Stuart J. Russell},
title = {Anytime sensing, planning and action: A practical model for robot control},
booktitle = {In Proceedings of the Thirteenth International Joint Conference on Artificial Intelligence},
year = {1993},
pages = {1402--1407}
}
Years of Citing Articles
Abstract:
Anytime algorithms, whose quality of results improves gradually as computation time increases, provide useful performance components for timecritical planning and control of robotic systems. In earlier work, we introduced a compilation scheme for optimal composition of anytime algorithms. In this paper we present an implementation of a navigation system in which an off-line compilation process and a run-time monitoring component guarantee the optimal allocation of time to the anytime modules. The crucial meta-level knowledge is kept in the anytime library in the form of conditional performance profiles. We also extend the notion of gradual improvement to sensing and plan execution. The result is an efficient, flexible control for robotic systems that exploits the tradeoff between time and quality in planning, sensing and plan execution.
Citations
| 7715 | Computers and Intractability: A Guide to the Theory of NP-Completeness – Garey, Johnson - 1979 |
| 481 | An analysis of time-dependent planning – Dean, Boddy - 1988 |
| 183 | Integrating Planning and Reacting in a Heterogeneous Asynchronous Architecture for Controlling RealWorld Mobile Robots – Gat - 1992 |
| 165 | What are plans for – Agre, Chapman - 1990 |
| 150 | Reasoning about beliefs and actions under computational resource constraints – Horvitz - 1987 |
| 86 | Operational rationality through compilation of anytime algorithms – Zilberstein - 1993 |
| 77 | Composing real-time systems – Russell, Zilberstein - 1991 |
| 23 | Efficient resource-bounded reasoning in AT-RALPH – Zilberstein, Russell - 1992 |
| 8 | Modeling by Computers – Lozano-Pérez, Brooks - 1984 |
