2634305
Deadlines, Travel Time, and Robot Problem Solving
1 Abstract This paper describes some extensions to the reductionist planning paradigm typified by Sacerdoti's NOAH program. Certain inadequacies of the partial ordering scheme used in NOAH are pointed out and a new architecture is detailed which circumvents these problems. An example from the semi-automated factory domain is used to illustrate features of the new planner. Techniques for eliminating unnecessary travel time by the robot and avoiding backtracking due to deadline failures are discussed and their incorporation in the planner is described. 2 Introduction Most planners since NOAH [8] have represented a plan for a set of tasks as a partial (ie., non-linear) ordering of the steps required for carrying out those tasks. NOAH and its successors (eg., NONLIN [9] and DEVISER [10]) employ a partially ordered network of tasks to avoid early and unnecessary commitment to task orderings. The motivation for this is to eliminate backtrack-ing. However, maintaining a consistent partial order is difficult in domains where the fact that tasks actually take time plays an important role: domains in which deadlines or robot travel time are serious considerations. That a partial order leads unavoidably to a deadline failure usually cannot be discovered until an attempt is made to linearize the ordering. However, failure to notice a deadline violation early will require backtracking later. In addition, planning with a partial order is not well suited to efficiently managing factors like travel or machine running time. It's not difficult to represent that moving from one workstation to another takes time proportional to the distance separating the two workstations. However, generating a plan that eliminates unnecessary travel between workstations requires exploring some of the linearized task orderings. It is not until tasks are completely ordered that the source and destination workstations of each movement can be known and the travel time computed with any accuracy. In this paper we describe an approach to planning that combines the use of a partial order with a method for exploring the possible repercussions of that partial order. This approach has been implemented in the FORBIN planner (First Order RoBot INtender). FORBIN is a planner capable of solving a significantly wider class of problems than any of its predecessors. 2.1 The Factory Domain One problem domain that has been used for exploring our approach to planning is what we refer to as the semi-automated factory. In this domain a mobile robot operator wanders about the …
7547345
Path Planning Through Time and Space in Dynamic Domains
Realistic robot problems involve navigating the robot through time as well as space. The obstacles that a robot must avoid and the pathways on which it travels are subject to changes throughout time. These changes can occur in a predictable or unpredictable fashion. This paper presents an integrated route planning and spatial representation system that allows paths to be calculated in dynamic domains. The path planner finds the "best route" through a given n-dimensional space. The "best route" is defined as the path through space-time with the best score as determined by a set of user-defined evaluation functions. The algorithm takes into account the following: Capabilities of the robot executing generated plans, traversability of space, and interactions with both predictable and unpredictable dynamic objects. The route planning algorithm is highly parallel and can be run on an SIMD (Single Instruction Multiple Data) machine in 0(p) time, where p is the length of a path. In domains with unpredictable processes, this system may be run in an incremental fashion, allowing the robot to create real-time routes along the optimal path as described by its current information. This paper will discuss: Spatial representation, an SIMD algorithm for route planning in a dynamic domain, and results from an implementation on a traditional computer architecture.
303726
Simplified navigation and traverse planning for a long-range planetary rover
This paper presents the sensor and control system for SR2, a planetary rover prototype capable of km+/day traverses through Mars-like terrain. The control system described allowed the rover to successfully navigate Mars-like terrain given a set of way-points spaced approximately 100 m apart. The control system uses input from a variety of sensors including heading, roll, pitch, an array of proximity sensors, voltage and current sensors, and a depth from stereo camera system. The control system is adequate, when combined with the rover's mobility system to make its way over or around almost all hazards a rover is likely to encounter, and to know when it is getting diverted so far off course that it needs to ask for help. In a recent field test, the robot autonomously navigated through 1.3 km of Mars like terrain to reach its goal. The SR2 is a solar powered, four-wheeled rover that masses 21 kg and fits inside a 90/spl times/65/spl times/40 cm envelope.
16341198
Global Symbolic Maps from Local Navigation
In order to navigate autonomously, most robot systems are provided with some sort of global terrain map. To make storage practical, these maps usually have a high-level symbolic representation of the terrain. The robot's symbolic map is then used to plan a local path. This paper describes a system which uses the reverse (and perhaps more natural) process. This system processes local sensor data in such a way as to allow efficient, reactive local navigation. A byproduct of this navigation process is an abstraction of the terrain information which forms a global symbolic terrain map of the terrain through which the robot has passed. Since this map is in the same format as that used by the local navigation system, the map is easy for the system to use, augment, or correct. Compared with the data from which the maps are created, the maps are very space efficient, and can be modified, or used for navigation in real-time. Experiments with this system, both in simulation, and with a real robot operating in natural terrain, are described.
39419808
A Twelve-Step Program to More Efficient Robotics
Sensor abuse is a serious and debilitating condition. However, one must remember that it is a disease, not a crime.1 As such, it can be treated. This article presents a case study in sensor abuse. This particular subject was lucky enough to pull himself out of his pitiful condition, but others are not so lucky. The article also describes a 12- step behavior-modification program modeled on this and other successful case studies.
657782
Experiences with an Architecture for Intelligent, Reactive Agents
This paper briefly describes a robot architecture that has been under development for the last eight years. This architecture uses several levels of abstraction and description languages that are compatible between levels. The makeup of the architecture helps to coordinate planful activities with real-time behaviors for dealing with dynamic environments. In recent years, many architectures have been created with similar attributes. The two features that distinguish this architecture from most of those are: 1) a variety of useful software tools have been created to help implement this architecture on multiple real robots; and 2) this architecture, or parts of it have been implemented on over half a dozen very different robot systems using a variety of processors, operating systems, effectors and sensor suites.
10134130
A Congruence Format for Name-passing Calculi
We define and use a SOS-based framework to specify the transition systems of calculi with name-passing properties. This setting uses proof-theoretic tools to take care of some of the difficulties specific to name-binding and make them easier to handle in proofs. The contribution of this paper is the presentation of a format that ensures that open bisimilarity is a congruence for calculi specified within this framework, extending the well-known tyft/tyxt format to the case of name-binding and name-passing. We apply this result to the @p-calculus in both its late and early semantics.
711002
Counting Distinct Strings
Abstract. This paper discusses how to count and generate strings that are ``distinct'' in two senses: p -distinct and b -distinct. Two strings x on alphabet A and x' on alphabet A' are said to be p -distinct iff they represent distinct ``patterns''; that is, iff there exists no one—one mapping from A to A' that transforms x into x' . Thus aab and baa are p -distinct while aab and ddc are p -equivalent. On the other hand, x and x' are said to be b -distinct iff they give rise to distinct border (failure function) arrays: thus aab with border array 010 is b -distinct from aba with border array 001 . The number of p -distinct (resp. b -distinct) strings of length n formed using exactly k different letters is the [k,n] entry in an infinite p' (resp. b' ) array. Column sums p[n] and b[n] in these arrays give the number of distinct strings of length n . We present algorithms to compute, in constant time per string, all p -distinct (resp. b -distinct) strings of length n formed using exactly k letters, and we also show how to compute all elements p'[k,n] and b'[k,n] . These ideas and results have application to the efficient generation of appropriate test data sets for many string algorithms.
5486748
Scaling internet routers using optics
Routers built around a single-stage crossbar and a centralized scheduler do not scale, and (in practice) do not provide the throughput guarantees that network operators need to make efficient use of their expensive long-haul links. In this paper we consider how optics can be used to scale capacity and reduce power in a router. We start with the promising load-balanced switch architecture proposed by C-S. Chang. This approach eliminates the scheduler, is scalable, and guarantees 100% throughput for a broad class of traffic. But several problems need to be solved to make this architecture practical: (1) Packets can be mis-sequenced, (2) Pathological periodic traffic patterns can make throughput arbitrarily small, (3) The architecture requires a rapidly configuring switch fabric, and (4) It does not work when linecards are missing or have failed. In this paper we solve each problem in turn, and describe new architectures that include our solutions. We motivate our work by designing a 100Tb/s packet-switched router arranged as 640 linecards, each operating at 160Gb/s. We describe two different implementations based on technology available within the next three years.
21145709
A Hybrid Genetic Algorithm for the Single Machine Scheduling Problem
A hybrid genetic algorithm (HGA) is proposed for the single machine, single stage, scheduling problem in a sequence dependent setup time environment within a fixed planning horizon (SSSDP). It incorporates the elitist ranking method, genetic operators, and a hill-climbing technique in each searching area. To improve the performance and efficiency, hill climbing is performed by uniting the Wagner-Whitin Algorithm with the problem-specific knowledge. The objective of the HGA is to minimize the sum of setup cost, inventory cost, and backlog cost. The HGA is able to obtain a superior solution, if it is not optimal, in a reasonable time. The computational results of this algorithm on real life SSSDP problems are promising. In our test cases, the HGA performed up to 50% better than the Just-In-Time heuristics and 30% better than the complete batching heuristics.
5278164
A Logic Programming Approach to Manipulating Formulas and Programs
By permitting function and predicate symbols to be variables and by replacing first-order terms by simply typed $lambda$-terms, a higher-order extension to first-order Horn clauses can be described. To be complete in principle, a logic programming language based on this extension must incorporate higher-order unification. Although this is a more complex operation than first-order unification, its availability as a primitive makes certain kinds of programming tasks easier. We illustrate this aspect in the paper by presenting some programs in a higher-order version of Prolog called $\lambda$Prolog that manipulate objects, such as formulas and programs, whose representation requires structures containing abstractions or bound variables. Specifically, we show (a) how a simple natural deduction theorem prover may be implemented in $\lambda$Prolog, and (b) how some simple program transformers for a functional programming language may be written in this language. These programs exploit the availability of $\lambda$-conversion and higher-order unification in $\lambda$Prolog to provide elegant solutions to several awkward problems inherent in these tasks. We contend that programs which perform similar tasks but which are written in languages without these features would, at least, be much less perspicuous.