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Authors: Enrico Scala ; Roberto Micalizio and Pietro Torasso

Affiliation: Universita' di Torino, Italy

ISBN: 978-989-758-015-4

Keyword(s): Replanning, Plan Repair, Plan Execution, Space Exploration, Consumable Resources, CSP.

Related Ontology Subjects/Areas/Topics: Agents ; Artificial Intelligence ; Constraint Satisfaction ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Planning and Scheduling ; Simulation and Modeling ; Symbolic Systems ; Task Planning and Execution

Abstract: Robust execution of exploration mission plans has to deal with limited computational power on-board a planetary rover, and with limited rover’s autonomy. In most cases, these limitations practically prevent the rover to synthesize a new mission plan when some unexpected contingency arises. The paper shows that when such deviations refers to anomalies on the consumption of resources, robust execution can be achieved efficiently through an action reconfiguration approach instead of a replanning from scratch. Building up on an extended action model representation, the paper proposes an effective continual planner - ReCon - that, exploiting a general purpose CSP solver, is able to (i) detect violations of mission resource constraints, and (ii) find (if any) a new configuration of actions.

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Paper citation in several formats:
Scala, E.; Micalizio, R. and Torasso, P. (2014). Robust Execution of Rover Plans via Action Modalities Reconfiguration.In Proceedings of the 6th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-758-015-4, pages 142-152. DOI: 10.5220/0004819501420152

@conference{icaart14,
author={Enrico Scala. and Roberto Micalizio. and Pietro Torasso.},
title={Robust Execution of Rover Plans via Action Modalities Reconfiguration},
booktitle={Proceedings of the 6th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},
year={2014},
pages={142-152},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004819501420152},
isbn={978-989-758-015-4},
}

TY - CONF

JO - Proceedings of the 6th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - Robust Execution of Rover Plans via Action Modalities Reconfiguration
SN - 978-989-758-015-4
AU - Scala, E.
AU - Micalizio, R.
AU - Torasso, P.
PY - 2014
SP - 142
EP - 152
DO - 10.5220/0004819501420152

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