On 9/6/06, YKY (Yan King Yin) <[EMAIL PROTECTED]> wrote:
> > Also my architecture has yet to be integrated with acting/planning.
> Which is a very tricky business :)
Fredrik,
If you're interested in developing an acting/planning module for G0, we can
discuss this more. I'm now studying the materials in Ch 11 & 12 of "AI: a
modern approach", which should be a good starting point.
I haven't studied G0 in detail, but one of our current research
problems is the execution and monitoring of plans. We have one of the
worlds fastest and most expressive planners, TALplanner, which is
forward-chaining domain-dependent planner using control rules written
in a temporal action logic which is very expressive. The problem is to
take these plans and actually execute them. Since the planning domain
is by necessity an abstraction compared to the real world there will
always be potential failures waiting around the corner. For example
actions may fail in unexpected, or even expected ways; actions may
take longer or shorter time than expected which affects the execution
of the rest of the plan; and new high value oppertunities may arise
that the agent ought to take advantage of. We have focused mainly on
the first and second item. Our current idea is to annotate the plan
operators with temporal logical formlas which express safety and
progress conditions, i.e. conditions which are never allowed to be
violated and conditions which are only violated if no progress is
made. Then these formulas are evaluated as the world develops using a
technique called progression, which is basically partial evaluation of
the formulas over one state at the time. If a formula is violated we
currently only replan from the new situation. The work is not
finished, but we expect to have a paper ready by the end of the month.
/Fredrik
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