Remote mission specialist: a study in real-time, adaptive planning

Rokey, Mark J.

doi:10.1109/70.59356

Cited by 4 publications

(2 citation statements)

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“…SIPE also adds MOLGEN-like constraints and backtracking to the NOAH system to allow for search space reduction. Recently, Rokey [9] developed a two-level planner for the JPL telerobot testbed. The planner, TIPS, draws strongly from NOAH and SIPE, and is designed to operate in a multiagent, redundant world.…”

Section: Planningmentioning

confidence: 99%

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<title>Planning under uncertainty in the NASA FTS environment</title>

Moed

Kelley

1992

SPIE Proceedings

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An evaluation system called the Associative Rule Memory (ARM) is described that operates with an interactive or automatic planner in a robot-based world, such as the world of the NASA Flight Telerobotic Servicer (FTS). The ARM is constructed from a neural network model called a Boltzmann Machine, and ranks alteraative robotic actions based on the probability that the action works as expected in achieving a desired effect. The system is ezperiencebased, and can predict the probability of achieving a desired effect for robotic actions that have not been explicitly tested in the past. The ARM is designed to quickly and efficiently find high probability of effect robotic actions for a given desired effect. This paper details the construction of the ARM for the NASA FTS robotic environment. Examples are also provided that demonstrate the use of the ARM within a current NASA symbolic planning system.

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Section: Planningmentioning

confidence: 99%

“…The minimum of G can be found numerically by iterating on OG wij = -CT-: (9) '-'WI., for all weights W2 and a small positive step size . The correct weights are found as all the partial derivatives approach 0.…”

Section: Wijmentioning

confidence: 99%