自律ロボットにおける経験に基づくタスク計画知識の洗練
Experience-based Refinement of Task Planning Knowledge in Autonomous Robots
物理ロボットが行動実行の経験を利用して環境に関する記号知識を洗練し、タスク計画の成功率を向上させる手法を提案し、NAOロボットで評価した。
著者: Hadeel Jazzaa, Thomas McCluskey, David Peebles
分類: cs.RO, cs.AI
原文アブストラクト
The requirement for autonomous robots to exhibit higher-level cognitive skills by planning and adapting in an ever-changing environment is indeed a great challenge for the AI community. Progress has been made in the automated planning community on refinement and repair of an agent's symbolic knowledge to do task planning in an incomplete or changing environmental model, but these advances up to now have not been transferred to real physical robots. This paper demonstrates how a physical robot can be capable of adapting its symbolic knowledge of the environment, by using experiences in robot action execution to drive knowledge refinement and hence to improve the success rate of the task plans the robot creates. To implement more robust planning systems, we propose a method for refining domain knowledge to improve the knowledge on which intelligent robot behavior is based. This architecture has been implemented and evaluated using a NAO robot. The refined knowledge leads to the future synthesis of task plans which demonstrate decreasing rates of failure over time as faulty knowledge is removed or adjusted.