Titlebook: Interleaving Planning and Execution for Autonomous Robots; Illah Reza Nourbakhsh Book 1997 Springer Science+Business Media New York 1997 a

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Strategic Subgoaling: Using Abstraction Systems,oblem spaces from abstract problem spaces as well as moving to a new graph formalism in lieu of state set transition graphs. Section 7.3 defines an abstraction system using the new terminology, as well as specialized definitions of soundness and completeness in the context of a specific abstraction

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Generalizing Beyond State Sets, domain-specific representations can be used to effect interleaving as described in this thesis. Section 8.1 describes the type of extensions we allow. Section 8.2 describes two specific domain-specific representations, demonstrating implementations of our belief update functions in those representa

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Introduction,This chapter begins by motivating the topic of this text. In Section 1.2 the specific contributions of this work are identified and described. Finally, Section 1.3 describes the contents of all subsequent chapters.

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Conclusions,This final chapter reviews the key contributions of this dissertation, then describes the lessons learned from this research. Finally, the chapter offers a prediction of future work required to bring autonomous robots to reality.

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The Springer International Series in Engineering and Computer Sciencehttp://image.papertrans.cn/i/image/471135.jpg

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Interleaving Planning and Execution for Autonomous Robots978-1-4615-6317-4Series ISSN 0893-3405

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Book 1997ncomplete information. This work bridgesthe gap between theory and practice in robotics by presenting controlarchitectures that are provably sound, complete and optimal, and thendescribing real-world implementations of these robot architectures.Dervish, winner of the 1994 AAAI National Robot Contest