MIT16_410F10_lec09

MIT16_410F10_lec09 - 1 Massachusetts Institute of...

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Unformatted text preview: 1 Massachusetts Institute of Technology Robust Execution of Temporal Plans Prof Brian Williams 16.410 / 16.413 October.6 th , 2010 Slide Contributions: Andreas Hofmann Ju l ie Shah Brian Williams, Fall 10 2 Assignments • Remember: Problem Set #5 due today, Wed, Oct. 6 th , 2010. Problem Set #6 out today. • Reading: – Today: Dechter, R., I. Meiri, J. Pearl, “Temporal Constraint Networks,” Artificial Intelligence, 49, pp. 61-95,199 1 . – Wednesday: Logic [AIMA] Ch. 7, 8 • Exam: – Mid-Term - October 20 th . 2 3 Executing Time Critical Missions 4 An effective Scrub Nurse: • works hand-to-hand, face-to-face with surgeon, • assesses and anticipates needs of surgeon, • provides assistance and tools in order of need, • responds quickly to changing circumstances, • responds quickly to surgeon’s cues and requests. Team Coordination under Time Pressure Image credit: NASA. Images of scrub nurses and surgeons removed due to copyright restrictions. 3 5 Human-Robot Teaming 6 Robust Execution of Time-critical Tasks • Executing Simple Plans • Robust Execution – Describing Temporal Plans – Checking Temporal Plan Consistency – Scheduling Plans – Robust, Dynamic Scheduling Images of human-robot teaming (in surgical, space, and rescue settings) removed due to copyright restrictions. 4 dinner present wrap carry cleanH quiet noGarb cleanH dinner present Prop at 0 Action at 0 Prop at 1 Action at 1 Prop at 2 noop-dinner noop-present Total Order Plans < Actions[i] > Contain Irrelevant Commitments dinner present cook wrap carry cleanH quiet noGarb cleanH dinner present Prop at 0 Action at 0 Prop at 1 Action at 1 Prop at 2 Partial Order Plans < Actions, Orderings, Links > Remove Irrelevant Commitments 5 dinner present cook wrap carry cleanH quiet noGarb cleanH dinner present Prop at 0 Action at 0 Prop at 1 Action at 1 Prop at 2 Partial Order Plan Execution Start Partial Order Plan Execution Initialize queue Ready , with action Start . . Mark all actions as “ not executed .” Loop • If Ready is empty, Then terminate . • Dequeue action a from Ready and execute . • When completed, mark a as executed . • For each succeeding action b such that a < b or linked( a , b , p ), – If every preceding action c is marked “ executed ,” such that c < b or linked( c , b , p’ ), – Then queue b on Ready. 6 dinner present cook wrap carry cleanH quiet noGarb cleanH dinner present Prop at 0 Action at 0 Prop at 1 Action at 1 Prop at 2 Plan Execution w Action Monitoring Start Plan Execution w Action Monitoring Initialize queue Ready , with action Start . Mark all actions as “ not executed .” Loop • If Ready is empty , Then terminate . • Dequeue action a from Ready ....
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MIT16_410F10_lec09 - 1 Massachusetts Institute of...

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