Adaptive selection of reactive/deliberate planning for a dynamic environment

Satoshi Kurihara, Shigemi Aoyagi, Rikio Onai, Toshiharu Sugawara

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)183-195
Number of pages13
JournalRobotics and Autonomous Systems
Volume24
Issue number3-4
Publication statusPublished - 1998 Sep 30
Externally publishedYes

Fingerprint

Dynamic Environment
Planning
Active Vision
Real-time
Vision System
Verify
Evaluate

Keywords

  • Autonomous system
  • Dynamic environment
  • Integrating reactive and deliberate planning
  • Multi-agent planning
  • Real-world agent
  • Spreading activation model

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Computational Mechanics

Cite this

Adaptive selection of reactive/deliberate planning for a dynamic environment. / Kurihara, Satoshi; Aoyagi, Shigemi; Onai, Rikio; Sugawara, Toshiharu.

In: Robotics and Autonomous Systems, Vol. 24, No. 3-4, 30.09.1998, p. 183-195.

Research output: Contribution to journalArticle

Kurihara, Satoshi ; Aoyagi, Shigemi ; Onai, Rikio ; Sugawara, Toshiharu. / Adaptive selection of reactive/deliberate planning for a dynamic environment. In: Robotics and Autonomous Systems. 1998 ; Vol. 24, No. 3-4. pp. 183-195.
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