Advances in Plan-Based Control of Robotic Agents International S
In recent years, autonomous robots, including Xavier, Martha [1], Rhino [2,3], Minerva,and Remote Agent, have shown impressive performance in long-term demonstrations. In NASA’s Deep Space program, for example, an - tonomous spacecraft controller, called
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Lecture Notes in Computer Science Edited by G. Goos, J. Hartmanis, and J. van Leeuwen
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Michael Beetz Joachim Hertzberg Malik Ghallab Martha E. Pollack (Eds.)
Advances in Plan-Based Control of Robotic Agents International Seminar Dagstuhl Castle, Germany, October 21-26, 2001 Revised Papers
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Series Editors Jaime G. Carbonell, Carnegie Mellon University, Pittsburgh, PA, USA J¨org Siekmann, University of Saarland, Saarbr¨ucken, Germany Volume Editors Michael Beetz Technische Universität München, Institut für Informatik IX Orleansstr. 34, 81667 München, Germany E-mail: [email protected] Joachim Hertzberg Fraunhofer-Institut, Autonome Intelligente Systeme (AIS) Schloss Birlinghoven, 53754 Sankt Augustin, Germany E-mail: [email protected] Malik Ghallab LAAS-CNRS, 7, Avenue du Colonel Roche, 31077 Toulouse cedex, France E-mail: malik@laas-fr Martha E. Pollack University of Michigan, College of Engineering Dept. of Electrical Engineering and Computer Science Ann Arbor, MI 48019, USA E-mail: [email protected] Cataloging-in-Publication Data applied for A catalog record for this book is available from the Library of Congress Bibliographic information published by Die Deutsche Bibliothek Die Deutsche Bibliothek lists this publication in the Deutsche Nationalbibliographie; detailed bibliographic data is available in the Internet at . CR Subject Classification (1998): I.2.9, I.2.8, I.2.11, I.2 ISSN 0302-9743 ISBN 3-540-00168-9 Springer-Verlag Berlin Heidelberg New York This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting, reproduction on microfilms or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer-Verlag. Violations are liable for prosecution under the German Copyright Law. Springer-Verlag Berlin Heidelberg New York, a member of BertelsmannSpringer Science+Business Media GmbH http://www.springer.de © Springer-Verlag Berlin Heidelberg 2002 Printed in Germany Typesetting: Camera-ready by author, data conversion by Christian Grosche, Hamburg Printed on acid-free paper SPIN: 10871267 06/3142 543210
Preface In recent years, autonomous robots, including Xavier, Martha [1], Rhino [2,3], Minerva, and Remote Agent, have shown impressive performance in long-term demonstrations. In NASA’s Deep Space program, for example, an autonomous spacecraft controller, called the Remote Agent [5], has autonomously performed a scientific experiment in space. At Carnegie Mellon University, Xavier [6], another autonomous mobile robot, navigated through an office environment for more than a year, allowing people to issue navigation commands and monitor their execution via the
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