TY - GEN
T1 - Adaptive selection of reactive/deliberate planning for the dynamic environment - A proposal and evaluation of MRR-planning-
AU - Kurihara, Satoshi
AU - Aoyagi, Shigemi
AU - Onai, Rikio
N1 - Publisher Copyright:
© 1997, Springer-Verlag. All rights reserved.
PY - 1997
Y1 - 1997
N2 - This paper proposes and evaluates a methodology for multi-agent realtime reactive planning. In addition to the feature of conventional real-time reactive planning, which can react in a dynamic environment, our planning can perform deliberate planning when, for example, the robot has enough time to plan its next action. The proposed planning features three kinds of agents: a behavior agent that controls simple behavior, a planning agent that makes plans to achieve its goals, and a behavior selection agent that intermediates between behavior agents and planning agents. They coordinate a plan in an emergent way for the planning system as a whole. We confirmed the effectiveness of our planning by means of a simulation. Furthermore, we implemented an active vision system, which is the first stage of building the real-world agent, and used it to verify the real-world effectiveness of our planning.
AB - This paper proposes and evaluates a methodology for multi-agent realtime reactive planning. In addition to the feature of conventional real-time reactive planning, which can react in a dynamic environment, our planning can perform deliberate planning when, for example, the robot has enough time to plan its next action. The proposed planning features three kinds of agents: a behavior agent that controls simple behavior, a planning agent that makes plans to achieve its goals, and a behavior selection agent that intermediates between behavior agents and planning agents. They coordinate a plan in an emergent way for the planning system as a whole. We confirmed the effectiveness of our planning by means of a simulation. Furthermore, we implemented an active vision system, which is the first stage of building the real-world agent, and used it to verify the real-world effectiveness of our planning.
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U2 - 10.1007/3-540-63077-5_29
DO - 10.1007/3-540-63077-5_29
M3 - Conference contribution
AN - SCOPUS:84958751347
SN - 3540630775
SN - 9783540630777
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 112
EP - 127
BT - Multi-Agent Rationality - 8th European Workshop on Modelling Autonomous Agents in a Multi-Agent World, MAAMAW 1997, Proceedings
A2 - Van de Velde, Walter
A2 - Boman, Magnus
PB - Springer Verlag
T2 - 8th European Workshop on Modelling Autonomous Agents in a Multi-Agent World, MAAMAW 1997
Y2 - 13 May 1997 through 16 May 1997
ER -