On-line robot execution monitoring using probabilistic action duration
نویسندگان
چکیده
The execution of tasks for a mobile robot embedded in a dynamic environment brings about several challenges, due to the dynamic changes of the environment and the inaccurate perception of the robot. This paper tackles the problem of on-line execution monitoring when the agent has different tasks and several plan to accomplish them, as in the BDI framework. Our method considers uncertainty in the duration of actions with a probabilistic model of action duration, and evaluates the cost of each possible plan at run-time in terms of probability of successful termination within a desired expected time.
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