Moving Walls

Marcel Schoppers


When the robot Flakey expected a doorway where none existed and perceived a wall as a movable obstacle, I soon saw that my program worked well only where it employed sensory feedback and that PRS’s procedures were another form of feed-forward control, with built-in (though branching) expectations over-ruling sensing. This realization led to the conception of universal plans.

Full Text:



Copyright © 2017, Association for the Advancement of Artificial Intelligence ( All rights reserved.