Coordination of actions in an autonomous robotic system
Linköping University, Department of Computer and Information Science, CASL - Cognitive Autonomous Systems Laboratory
Linköping University, The Institute of Technology
Chapter in book (Refereed)
Reasoning, Action and Interaction in AI Theories and Systems: Essays Dedicated to Luigia Carlucci Aiello
Lecture Notes in Computer Science, ISSN 0302-9743; 4155
Engineering and Technology
Robots are autonomous agents whose actions are performed in the real world during a period of time. There are a number of general constraints on such actions, for example that the same action can not have two separate instances during overlapping time intervals, or restrictions that are due to which state variables affect the action or are affected by it. Each process in the robot's cognitive system that is to request the initiation of an action must respect those restrictions. In this article we describe the design and formal characterization of a separate process, called an action coordinator, that manages these restrictions.