Environmental Engineering Reference
In-Depth Information
Plan
Testing
Learning
Techniques
Planning
Technologies
Simulation
Software
Cooperation
Languages
Testbeds
Reasoning with
Partial Information
Agent
Technologies
Perceive
Act
Image
Processing
Robotic
Actuators
Data
Fusion
Communication
Signal
Processing
Fig. 5.1. Collaborative autonomy technologies
Planner
Database
Goals
Actions
Create
Plan
Execute
Plan
And
Return
Results
Results
Higher
Level
System
World
Model
Results
Update
Model
Fig. 5.2. Planner architectures
specified as goals to the planner. These goals are analyzed in the light of the
planner's view of the environment and a database describing what it is capable
of doing. After analysis, the planner chooses a set of actions to perform and
these actions are sent off for execution. Results from the execution of these
actions are fed back to the planner to update its view of the environment. If the
goals have been achieved, success is reported back to the higher level system.
If some problem has occurred during execution, error recovery is attempted,
a new plan is created, and the cycle repeats. If no other plan can be created,
the failure is reported to the higher level system.
 
 
 
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