Goal accomplishment tracking for automatic supervision of plan execution

SMALL, N., MANN, G. and LEE, K., 2013. Goal accomplishment tracking for automatic supervision of plan execution. In: Proceedings of Australasian Conference on Robotics and Automation 2013 (ACRA 2013), University of new South Wales, Sydney, Australia, 2-4 December 2013. Sydney: Australian Robotics and Automation Association. ISBN 9780980740448


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It is common practice to break down plans into a series of goals or sub-goals in order to facilitate plan execution, thereby only burdening the individual agents responsible for their execution with small, easily achievable objectives at any one time, or providing a simple way of sharing these objectives amongst a group of these agents. Ensuring that plans are executed correctly is an essential part of any team management. To allow proper tracking of an agent's progress through a pre-planned set of goals, it is imperative to keep track of which of these goals have already been accomplished. This centralised approach is essential when the agent is part of a team of humans and/or robots, and goal accomplishment is not always being tracked at a low level. This paper presents a framework for an automated supervision system to keep track of changes in world states so as to chart progress through a pre-planned set of goals. An implementation of this framework on a mobile service robot is presented, and applied in an experiment which demonstrates its feasibility.

Item Type: Chapter in book
Creators: Small, N., Mann, G. and Lee, K.
Publisher: Australian Robotics and Automation Association
Place of Publication: Sydney
Date: 2013
Divisions: Schools > School of Science and Technology
Depositing User: EPrints Services
Date Added: 09 Oct 2015 10:28
Last Modified: 09 Jun 2017 13:30
URI: http://irep.ntu.ac.uk/id/eprint/13548

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