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3rd IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 1999

作者： Pollack, Martha E. McCarthy, Colleen Department of Computer Science University of Pittsburgh PittsburghPA15260 United States Intelligent Systems Program University of Pittsburgh PittsburghPA15260 United States

ISBN: (纸本)0780358066

Until recently, techniques for AI plan generation relied on highly restrictive assumptions that were almost always violated in real-world environments;consequently, robot designers adopted reactive architectures and avoided AI planning techniques. Some recent research efforts have focused on obviating such assumptions by developing techniques that enable the generation and execution of plans in dynamic, uncertain environments. In this paper, we discuss one such technique, rationale-based monitoring, originally introduced by Veloso, Pollack, and Cox [9], and describe our use of it in a simple mobile robot environment. We review the original approach, describe how it can be adapted for a causal-link planner, and provide experimental results demonstrating that it can lead to improved plans without consuming excessive overhead. We also describe our use of rationale-based monitoring in a mobile robot office-assistant project currently in progress. © 1999 IEEE.

关键词： Mobile robots

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Towards focused plan monitoring: a technique and an application to mobile robots

Towards focused plan monitoring: a technique and an applicat...

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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： M.E. Pollack C. McCarthy Intelligent Systems Program University of Pittsburgh Pittsburgh PA USA Department of Computer Science University of Pittsburgh Pittsburgh PA USA

Until recently, techniques for AI plan generation relied on highly restrictive assumptions that were almost always violated in real-world environments; consequently, robot designers adopted reactive architectures and avoided AI planning techniques. Some recent research efforts have focused on obviating such assumptions by developing techniques that enable the generation and execution of plans in dynamic, uncertain environments. In this paper, we discuss one such technique, rationale-based monitoring, originally introduced by Veloso, Pollack, and Cox (1998), and describe our use of it in a simple mobile robot environment. We review the original approach, describe how it can be adapted for a causal-link planner, and provide experimental results demonstrating that it can lead to improved plans without consuming excessive overhead. We also describe our use of rationale-based monitoring in a mobile robot office-assistant project currently in progress.

关键词： Mobile robots Artificial intelligence Meeting planning computerized monitoring Application software computer science intelligent systems intelligent robots computer architecture Process planning

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Plan Management Issues for Cognitive Robotics: Project Overview

Plan Management Issues for Cognitive Robotics: Project Overv...

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1998 AAAI Fall Symposium

作者： Horty, John F. Pollack, Martha E. Philosophy Department Institute for Advanced Computer Studies University of Maryland College ParkMD20742 United States Department of Computer Science Intelligent Systems Program University of Pittsburgh PittsburghPA15260 United States

Progress in cognitive robotics can comeeither fromefforts to provide physical robots with more autonomy, or from efforts to make AI techniques more generally applicable to the needs of robotic agents. Weare conducting research on dynamic plan management, whichis an instance of the latter type of effort. In this paper, we provide an overview of our research project. Plan managementis the process (or set of related processes) by which a goal-directed agent coordinates, updates, and monitors its plans in response to ongoing changes in its environment. We discuss the main challenges in automating plan management, and then illustrate our approach by focusing on one plan management task: evaluating options for action in the context of existing plans. We also briefly describe the Plan Management Agent (PMA), a system weare building as a testbed for our plan management theories. Although PMA is not a robotic system, weare interested in also applying dynamicplan managementechniques to mobile robots, whichis whyweare participating in this symposium. © 1998, AAAI (***). All rights reserved.

关键词： Robotics

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Plan generation, plan management, and the design of computational agents

Plan generation, plan management, and the design of computat...

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International Conference on Multi Agent systems

作者： M.E. Pollack Department of Computer Science Intelligent Systems Program University of Pittsburgh Pittsburgh PA USA

A significant amount of prior research effort in the field of artificial intelligence has gone into the design and analysis of planning algorithms. For the most part, the work has been guided by several strong, simplifying assumptions, most notably, that the plans will be performed in static, deterministic environments. Although these assumptions have made rigorous formal analysis possible, they make sense only for a limited number of applications, in which planning is done more or less in isolation of other reasoning tasks, and also in isolation of plan execution. Once one turns attention to agents that perform autonomously in dynamic, uncertain environments-including multi-agent environments-the assumptions made by traditional planners are violated, and it becomes necessary to rethink the traditional AI approaches to planning.

关键词： Artificial intelligence Microwave integrated circuits computer science intelligent systems Computational and artificial intelligence Algorithm design and analysis Environmental management Technology management Delay Monitoring

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Contingency selection in plan generation

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4th European Conference on Planning, ECP 1997

作者： Onder, Nilufer Pollack, Martha E. Department of Computer Science University of Pittsburgh Pittsburgh PA 15260 United States Intelligent Systems Program University of Pittsburgh Pittsburgh PA 15260 United States

ISBN: (纸本)3540639128

A key question in conditional planning is: how many, and which of the possible execution failures should be planned for? One cannot, in general, plan for all the failures that can be anticipated: there are simply too many. But neither can one ignore all the possible failures, or one will fail to produce sufficiently flexible plans. We describe a planning system that attempts to identify the contingencies that contribute the most to a plan's overall value. Plan generation proceeds by extending the plan to include actions that will be taken in case the identified contingencies fail, iterating until either a given expected value threshold is reached or the planning time is exhausted. We provide details of the algorithm, discuss its implementation in the Mahinur system, and give initial results of experiments comparing it with the C-Buridan approach to conditional planning.

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Flaw selection strategies for partial-order planning

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Journal of Artificial Intelligence Research 1997年第1期6卷

作者： Martha E. Pollack David Joslin Massimo Paolucci Department of Computer Science and Intelligent Systems Program University of Pittsburgh Pittsburgh PA Computational Intelligence Research Laboratory University of Oregon Eugene OR Intelligent Systems Program University of Pittsburgh Pittsburgh PA

Several recent studies have compared the relative efficiency of alternative flaw selection strategies for partial-order causal link (POCL) planning. We review this literature, and present new experimental results that generalize the earlier work and explain some of the discrepancies in it. In particular, we describe the Least-Cost Flaw Repair (LCFR) strategy developed and analyzed by Joslin and Pollack (1994), and compare it with other strategies, including Gerevini and Schubert's (1996) ZLIFO strategy. LCFR and ZLIFO make very different, and apparently conflicting claims about the most effective way to reduce search-space size in POCL planning. We resolve this conflict, arguing that much of the benefit that Gerevini and Schubert ascribe to the LIFO component of their ZLIFO strategy is better attributed to other causes. We show that for many problems, a strategy that combines least-cost flaw selection with the delay of separable threats will be effective in reducing search-space size, and will do so without excessive computational overhead. Although such a strategy thus provides a good default, we also show that certain domain characteristics may reduce its effectiveness.

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Contingency Selection in Plan Generation

Contingency Selection in Plan Generation

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1996 AAAI Fall Symposium

作者： Onder, Nilufer Pollack, Martha E. Department of Computer Science University of Pittsburgh PittsburghPA15260 United States Department of Computer Science Intelligent Systems Program University of Pittsburgh PittsburghPA15260 United States

Akey question in conditional planning is: howmany, andwhich of the possible executionfailures shouldbe plannedfor? Onecannot, in general, plan for all the possible failures because the search spaceis too large. One cannotig noreall the possible failures, or onewill fail to produce sufficiently flexibleplans. In this paper, wedescribe an approachto conditional planning that attempts to identify the contingencies that contribute the mostto a plan's overall utility. Plan generation proceeds by handling the most important contingencies first, extending the plan to include actions that will be taken in case the contingency fails. Wediscuss the representational issues that mustbe addressedin order to implementsuch an algorithm, and present an examplewhichillustrates our approach. © 1996, AAAI (***). All rights reserved.

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Discourse Context

Discourse Context

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1995 AAAI Fall Symposium on Formalizing Context

作者： Thomason, Richmond H. Moore, Johanna D. Intelligent Systems Program University of Pittsburgh PittsburghPA15260 United States Computer Science Department University of Pittsburgh PittsburghPA15260 United States

Wediscuss the problems of developinga theory of context that applies to the phenomena of naturally occurring discourse and that might be useful in assisting with the problemsthat arise in generating and interpreting discourse. The theories of context that have recently emergedin AI treat context as a determinant of literal *** idea doesin fact fit somenatural language *** we suggest (1) that the account is inadequate for important effects that occur in discourse, and moreover(2) in discourse, the mutuality of context provides important constraints on the dynamicsof context. Weexplore these ideas in the paper, andalso describe an ongoing project that seeks to develop an empirically adequate and computationally useful approach to the problemof contextual effects on inference in discourse. Readers, please note that this is a provisional draft that describes ongoingwork. copyright © 1995, AAAI (***). All rights reserved.

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A DISTRIBUTED MEDIA ACCESS PROTOCOL FOR PACKET RADIO NETWORKS AND PERFORMANCE ANALYSIS .2. NETWORK SET-UP TIME AND DATA RATE

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INTERNATIONAL JOURNAL OF COMMUNICATION systems 1995年第1期8卷 49-63页

作者： POND, LC LI, VOK Communication Sciences Electrical Engineering Systems University of Southern California Los Angeles CA 90089-2565 U.S.A. Lawrence C. Pond received the M.Sc. and Ph.D. degrees in electrical engineering from the University of Southern California in 1983 and 1990 respectively. Dr. Pond is currently a scientist at Hughes Space and Communications Company having joined in 1980. He has worked in the fields of communication system design mobile communication network and spacecraft payload design. He is currently working on the development of satellite-based ATM transport and switching architectures for BISDN and Defense Information System Network amlications. Dr. Pond is a member of IEEE. Victor O. K. Li was born in Hong Kong in 1954. He received his SB SM and Sc.D. degrees in Electrical Engineering and Computer Science from the Massachusetts Institute of Technology Cambridge Massachusetts in 1977 1979 and 1981 respectively. Since February 1981 he has been with the University of Southern California (USC) LOS Angeles California where he is Professor of Electrical Engineering and Director of the USC Communication Sciences Institute. He has published 150 technical papers and has lectured and consulted extensively around the world. His research interests include high-speed communication networks personal communication networks intelligent networks distributed databases queueing theory graph theory and applied probability. Dr. Li is very active in the Institute of Electrical and Electronic Engineers (IEEE) having been a member of the Computer Communications Technical Committee since 1983 and having served as Chairman from 1987–1989. He served as Chairman of the Los Angeles Chapter of the IEEE Information Theory Group from 1983–1985. He is the Steering Committee Chair of the International Conference on Computer Communications and Networks (IC3 N) General Chair of the 1st Annual IC3N held in San Diego California in June 1992 General Chair and Technical Program Chair of the 4th IEEE Workshop on Comp

In this, the second part of a two-part paper, the required time for establishing a mobile packet radio network using the virtual circuit and time division multiple access protocol developed in Part 1 is analysed. Tools are developed to determine the virtual circuit and network set-up times in terms of the channel bandwidth allocated to establish and maintain the network. The tools are then extended to include the effects of user mobility. Then these results are combined with the network capacity results of Part 1 to analyse the trade-off between the data rate and set-up time of the network. Next a hierarchical architecture is proposed and the network data rate versus set-up time trade-off of this architecture is analysed using these tools. This architecture is shown to both provide a higher data rate and establish faster than flat networks of the same number of nodes.

关键词： PACKET RADIO NETWORK EPLRS DISTRIBUTED NETWORK TDMA VIRTUAL CIRCUITS MULTIHOP NETWORK BOUNDED DELAY MOBILITY NETWORK SET-UP TIME HIERARCHICAL NETWORK NETWORK DATA RATE

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Decomposition and Causality in Partial-Order Planning 2

Decomposition and Causality in Partial-Order Planning

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2nd International Conference on Artificial Intelligence Planning systems, AIPS 1994

作者： Young, R. Michael Pollack, Martha E. Moore, Johanna D. Intelligent Systems Program University of Pittsburgh PittsburghPA15260 United States Department of Computer Science University of Pittsburgh PittsburghPA15260 United States Learning Research and Development Center University of Pittsburgh PittsburghPA15260 United States

ISBN: (纸本)0929280563

We describe DPOCL, a partial-order causal link planner that includes action decomposition. DPOCL builds directly on the SNLP algorithm (McAllester & Rosenblitt 1991), and hence is clear and simple, and can readily be integrated with other SNLP extensions. In addition, DPOCL is specifically designed to handle partially specified action decompositions. Plan generation in DPOCL exploits the planner's ability to fill in the missing pieces of a partially specified subplan in a way that uses the existing context of the larger plan bang constructed. Copyright © 1994, AAAI (***). All rights reserved.

关键词： Decomposition

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