Executing Structured Reactive Plans

Michael Beetz, Drew McDermott

We consider plan execution for an autonomous robot to be a computational process that performs the following task: given (1) a plan that has been designed accomplish some jobs, (2) a stream of sensory data, and (3) a stream of feedback signals from the robot control processes, cause the robot to exhibit a behavior that accomplishes its jobs as specified by the plan. Plan execution would be trivial if the plan specified all aspects of the intended behavior for all possible streams of sensory input and feedback signals. Such detailed plans, however, are often extremely complex and impossible to synthesize automatically.


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