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Repairing decision-theoretic policies using goal-oriented planning

: Mies, C.; Ferrein, A.; Lakemeyer, G.

Leyperance, Y.:
CogRob 2008, 6th International Cognitive Robotics Workshop : July 21-22, 2008 Patras, Greece, colocated at ECAI 2008
Budapest: ECAI, 2008
Cognitive Robotics Workshop (CogRob) <6, 2008, Patras>
European Conference on Artificial Intelligence (ECAI) <18, 2008, Patras>
Fraunhofer IAIS ()

In this paper we address the problem of how decision-theoretic policies can be repaired. This work is moti- vated by observations made in robotic soccer where decision- theoretic policies become invalid due to small deviations dur- ing execution; and plan repair might pay off rather than re- plan from scratch. Our policies are generated with Readylog , a derivative of Golog based on the situation calcu- lus, which combines programming and planning for agents in dynamic domains. When an invalid policy was detected, the world state is transformed into a PDDL description and a state-of-the-art PDDL planner is deployed to calculate the repair plan.