• Skip to main content
  • Skip to primary sidebar
AAAI

AAAI

Association for the Advancement of Artificial Intelligence

    • AAAI

      AAAI

      Association for the Advancement of Artificial Intelligence

  • About AAAIAbout AAAI
    • AAAI Officers and Committees
    • AAAI Staff
    • Bylaws of AAAI
    • AAAI Awards
      • Fellows Program
      • Classic Paper Award
      • Dissertation Award
      • Distinguished Service Award
      • Allen Newell Award
      • Outstanding Paper Award
      • Award for Artificial Intelligence for the Benefit of Humanity
      • Feigenbaum Prize
      • Patrick Henry Winston Outstanding Educator Award
      • Engelmore Award
      • AAAI ISEF Awards
      • Senior Member Status
      • Conference Awards
    • AAAI Resources
    • AAAI Mailing Lists
    • Past AAAI Presidential Addresses
    • Presidential Panel on Long-Term AI Futures
    • Past AAAI Policy Reports
      • A Report to ARPA on Twenty-First Century Intelligent Systems
      • The Role of Intelligent Systems in the National Information Infrastructure
    • AAAI Logos
    • News
  • aaai-icon_ethics-diversity-line-yellowEthics & Diversity
  • Conference talk bubbleConferences & Symposia
    • AAAI Conference
    • AIES AAAI/ACM
    • AIIDE
    • IAAI
    • ICWSM
    • HCOMP
    • Spring Symposia
    • Summer Symposia
    • Fall Symposia
    • Code of Conduct for Conferences and Events
  • PublicationsPublications
    • AAAI Press
    • AI Magazine
    • Conference Proceedings
    • AAAI Publication Policies & Guidelines
    • Request to Reproduce Copyrighted Materials
  • aaai-icon_ai-magazine-line-yellowAI Magazine
    • Issues and Articles
    • Author Guidelines
    • Editorial Focus
  • MembershipMembership
    • Member Login
    • Developing Country List
    • AAAI Chapter Program

  • Career CenterCareer Center
  • aaai-icon_ai-topics-line-yellowAITopics
  • aaai-icon_contact-line-yellowContact

Home / Proceedings / Proceedings of the AAAI Conference on Artificial Intelligence, 21

Exploiting Spatial and Temporal Flexibility for Plan Execution for Hybrid, Under-actuated Robots

February 1, 2023

Download PDF

Authors

Andreas G. Hofmann

Brian C. Williams

DOI:


Abstract:

Robotic devices, such as rovers and autonomous spacecraft, have been successfully controlled by plan execution systems that use plans with temporal flexibility to dynamically adapt to temporal disturbances. To date these execution systems apply to discrete systems that abstract away the detailed dynamic constraints of the controlled device. To control dynamic, under-actuated devices, such as agile bipedal walking machines, we extend this execution paradigm to incorporate detailed dynamic constraints. Building upon prior work on dispatchable plan execution, we introduce a novel approach to flexible plan execution of hybrid under-actuated systems that achieves robustness by exploiting spatial as well as temporal plan flexibility. To accomplish this, we first transform the high-dimensional system into a set of low dimensional, weakly coupled systems. Second, to coordinate these systems such that they achieve the plan in real-time, we compile a plan into a concurrent timed flow tube description. This description represents all feasible control trajectories and their temporal coordination constraints, such that each trajectory satisfies all plan and dynamic constraints. Finally, the problem of runtime plan dispatching is reduced to maintaining state trajectories in their associated flow tubes, while satisfying the coordination constraints. This is accomplished through an efficient local search algorithm that adjusts a small number of control parameters in real-time. The first step has been published previously; this paper focuses on the last two steps. The approach is validated on the execution of a set of bipedal walking plans, using a high fidelity simulation of a biped.

Topics: AAAI

Primary Sidebar

HOW TO CITE:

Andreas G. Hofmann|| Brian C. Williams Exploiting Spatial and Temporal Flexibility for Plan Execution for Hybrid, Under-actuated Robots Proceedings of the AAAI Conference on Artificial Intelligence, 21 (2006) 948.

Andreas G. Hofmann|| Brian C. Williams Exploiting Spatial and Temporal Flexibility for Plan Execution for Hybrid, Under-actuated Robots AAAI 2006, 948.

Andreas G. Hofmann|| Brian C. Williams (2006). Exploiting Spatial and Temporal Flexibility for Plan Execution for Hybrid, Under-actuated Robots. Proceedings of the AAAI Conference on Artificial Intelligence, 21, 948.

Andreas G. Hofmann|| Brian C. Williams. Exploiting Spatial and Temporal Flexibility for Plan Execution for Hybrid, Under-actuated Robots. Proceedings of the AAAI Conference on Artificial Intelligence, 21 2006 p.948.

Andreas G. Hofmann|| Brian C. Williams. 2006. Exploiting Spatial and Temporal Flexibility for Plan Execution for Hybrid, Under-actuated Robots. "Proceedings of the AAAI Conference on Artificial Intelligence, 21". 948.

Andreas G. Hofmann|| Brian C. Williams. (2006) "Exploiting Spatial and Temporal Flexibility for Plan Execution for Hybrid, Under-actuated Robots", Proceedings of the AAAI Conference on Artificial Intelligence, 21, p.948

Andreas G. Hofmann|| Brian C. Williams, "Exploiting Spatial and Temporal Flexibility for Plan Execution for Hybrid, Under-actuated Robots", AAAI, p.948, 2006.

Andreas G. Hofmann|| Brian C. Williams. "Exploiting Spatial and Temporal Flexibility for Plan Execution for Hybrid, Under-actuated Robots". Proceedings of the AAAI Conference on Artificial Intelligence, 21, 2006, p.948.

Andreas G. Hofmann|| Brian C. Williams. "Exploiting Spatial and Temporal Flexibility for Plan Execution for Hybrid, Under-actuated Robots". Proceedings of the AAAI Conference on Artificial Intelligence, 21, (2006): 948.

Andreas G. Hofmann|| Brian C. Williams. Exploiting Spatial and Temporal Flexibility for Plan Execution for Hybrid, Under-actuated Robots. AAAI[Internet]. 2006[cited 2023]; 948.


ISSN:


Published by AAAI Press, Palo Alto, California USA
Copyright 2022, Association for the Advancement of
Artificial Intelligence 1900 Embarcadero Road, Suite
101, Palo Alto, California 94303 All Rights Reserved

We use cookies on our website to give you the most relevant experience by remembering your preferences and repeat visits. By clicking “Accept All”, you consent to the use of ALL the cookies. However, you may visit "Cookie Settings" to provide a controlled consent.
Cookie SettingsAccept All
Manage consent

Privacy Overview

This website uses cookies to improve your experience while you navigate through the website. Out of these, the cookies that are categorized as necessary are stored on your browser as they are essential for the working of basic functionalities of the website. We also use third-party cookies that help us analyze and understand how you use this website. These cookies will be stored in your browser only with your consent. You also have the option to opt-out of these cookies. But opting out of some of these cookies may affect your browsing experience.
Necessary
Always Enabled
Necessary cookies are absolutely essential for the website to function properly. These cookies ensure basic functionalities and security features of the website, anonymously.
CookieDurationDescription
cookielawinfo-checkbox-analytics11 monthsThis cookie is set by GDPR Cookie Consent plugin. The cookie is used to store the user consent for the cookies in the category "Analytics".
cookielawinfo-checkbox-functional11 monthsThe cookie is set by GDPR cookie consent to record the user consent for the cookies in the category "Functional".
cookielawinfo-checkbox-necessary11 monthsThis cookie is set by GDPR Cookie Consent plugin. The cookies is used to store the user consent for the cookies in the category "Necessary".
cookielawinfo-checkbox-others11 monthsThis cookie is set by GDPR Cookie Consent plugin. The cookie is used to store the user consent for the cookies in the category "Other.
cookielawinfo-checkbox-performance11 monthsThis cookie is set by GDPR Cookie Consent plugin. The cookie is used to store the user consent for the cookies in the category "Performance".
viewed_cookie_policy11 monthsThe cookie is set by the GDPR Cookie Consent plugin and is used to store whether or not user has consented to the use of cookies. It does not store any personal data.
Functional
Functional cookies help to perform certain functionalities like sharing the content of the website on social media platforms, collect feedbacks, and other third-party features.
Performance
Performance cookies are used to understand and analyze the key performance indexes of the website which helps in delivering a better user experience for the visitors.
Analytics
Analytical cookies are used to understand how visitors interact with the website. These cookies help provide information on metrics the number of visitors, bounce rate, traffic source, etc.
Advertisement
Advertisement cookies are used to provide visitors with relevant ads and marketing campaigns. These cookies track visitors across websites and collect information to provide customized ads.
Others
Other uncategorized cookies are those that are being analyzed and have not been classified into a category as yet.
SAVE & ACCEPT