Execution Monitoring for a Mobile Robot System
DAVID P. MILLER · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1990
Due to sensor errors, uncertainty, incomplete knowledge, and a dynamic world, robot plans will not always be executed exactly as planned. This paper describes an implemented robot planning system that enhances the traditional sense-think-act cycle in ways that allow the robot system monitor its behavior and react in emergencies in real-time. A proposal on how robot systems can completely break away from the traditional three-step cycle is also made.