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Authors: Simon Le Gloannec 1 ; Abdel Illah Mouaddib 1 and François Charpillet 2

Affiliations: 1 GREYC UMR 6072, Université de Caen Basse-Normandie, France ; 2 MAIA team, LORIA, France

ISBN: 978-989-8111-30-2

Keyword(s): MDP, Resource-bounded Reasoning, Hierarchical control, Autonomous agents, Planning and Scheduling.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Decision Support Systems ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Planning and Scheduling ; Simulation and Modeling ; Software Agents for Intelligent Control Systems ; Symbolic Systems

Abstract: This paper address the problem of an autonomous rover that have limited consumable resources to accomplish a mission. The robot has to cope with limited resources: it must decide the resource among to spent at each mission step. The resource consumption is also uncertain. Progressive processing is a meta level reasoning model particulary adapted for this kind of mission. Previous works have shown how to obtain an optimal resource consumption policy using a Markov decision process (MDP). Here, we make the assumption that the mission can dynamically change during execution time. Therefore, the agent must adapt to the current situation, in order to save resources for the most interesting future tasks. Because of the dynamic environment, the agent cannot calculate a new optimal policy online. However, it is possible to compute an approximate value function. We will show that the robot will behave as good as if it knew the optimal policy.

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Paper citation in several formats:
Le Gloannec S.; Illah Mouaddib A.; Charpillet F. and (2008). ADAPTIVE RESOURCES CONSUMPTION IN A DYNAMIC AND UNCERTAIN ENVIRONMENT - An Autonomous Rover Control Technique using Progressive Processing.In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8111-30-2, pages 200-206. DOI: 10.5220/0001492802000206

@conference{icinco08,
author={Simon {Le Gloannec} and Abdel {Illah Mouaddib} and Fran\c{C}ois Charpillet},
title={ADAPTIVE RESOURCES CONSUMPTION IN A DYNAMIC AND UNCERTAIN ENVIRONMENT - An Autonomous Rover Control Technique using Progressive Processing},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2008},
pages={200-206},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001492802000206},
isbn={978-989-8111-30-2},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - ADAPTIVE RESOURCES CONSUMPTION IN A DYNAMIC AND UNCERTAIN ENVIRONMENT - An Autonomous Rover Control Technique using Progressive Processing
SN - 978-989-8111-30-2
AU - Le Gloannec, S.
AU - Illah Mouaddib, A.
AU - Charpillet, F.
PY - 2008
SP - 200
EP - 206
DO - 10.5220/0001492802000206

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