Every Action Based Sensor

06/07/2020
by   Grace McFassel, et al.
0

In studying robots and planning problems, a basic question is what is the minimal information a robot must obtain to guarantee task completion. Erdmann's theory of action-based sensors is a classical approach to characterizing fundamental information requirements. That approach uses a plan to derive a type of virtual sensor which prescribes actions that make progress toward a goal. We show that the established theory is incomplete: the previous method for obtaining such sensors, using backchained plans, overlooks some sensors. Furthermore, there are plans, that are guaranteed to achieve goals, where the existing methods are unable to provide any action-based sensor. We identify the underlying feature common to all such plans. Then, we show how to produce action-based sensors even for plans where the existing treatment is inadequate, although for these cases they have no single canonical sensor. Consequently, the approach is generalized to produce sets of sensors. Finally, we show also that this is a complete characterization of action-based sensors for planning problems and discuss how an action-based sensor translates into the traditional conception of a sensor.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
05/22/2020

Abstractions for computing all robotic sensors that suffice to solve a planning problem

Whether a robot can perform some specific task depends on several aspect...
research
05/24/2017

Efficient, Safe, and Probably Approximately Complete Learning of Action Models

In this paper we explore the theoretical boundaries of planning in a set...
research
08/17/2020

Estimating action plans for smart poultry houses

In poultry farming, the systematic choice, update, and implementation of...
research
01/10/2022

Task planning and explanation with virtual actions

One of the challenges of task planning is to find out what causes the pl...
research
03/04/2022

Visibility-Inspired Models of Touch Sensors for Navigation

This paper introduces mathematical models of touch sensors for mobile ro...
research
11/17/2022

Planning with Large Language Models via Corrective Re-prompting

Extracting the common sense knowledge present in Large Language Models (...
research
07/04/2020

Sensor-Based Control for Collaborative Robots: Fundamentals, Challenges and Opportunities

The objective of this paper is to present a systematic review of existin...

Please sign up or login with your details

Forgot password? Click here to reset