Skip to main content
SpringerLink
Log in

A temporal representation for imperatively structured plans of actions

  • Temporal Reasoning
  • Conference paper
  • First Online:
Book cover EPIA 91 (EPIA 1991)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 541))

Included in the following conference series:

Abstract

The execution of plans of actions by a robot inspired the conception of various representations, from the point of view of planning in artificial intelligence and of execution control. Planning formalisms are often founded on predicate logic and its more recent extensions, particularly temporal logic. Robot programming languages, as far as concerning the task-level, feature control structures derived from computer programming languages, as well as ones more specifically related to real-time execution.

We propose a representation of plans of actions augmented by an imperative control structure, using a classical logical and temporal model. We therefore define, on the basis of an interval-based temporal logic, a set of imperative control primitives that define the temporal arrangement of the actions and subplans within their scope. After that, primitives for the reaction to evolutions in the environment are defined in the same formalism, in order to respond to constraints concerning interaction and adaptation to the external world.

The work described in this paper was performed at IRISA / INRIA, 35042 Rennes, France.

supported by an ERCIM fellowship (European Research Consortium in Informatics and Mathematics: CNR (Italy), CWI (The Netherlands), GMD (Germany), INESC (Portugal), INRIA (France), RAL (United-Kingdom)).

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. J.F. Allen. Towards a general theory of action and time. Artificial Intelligence, 23:123–154, 1984.

    Google Scholar 

  2. G. André, G. Berger, A. Elfving. The Bi-Arm Servicer, a multi-mission concept and a technological model for space robotics. In Proceedings of the 2 nd European In-Orbit Operations Technology Symposium, Toulouse, France, September 1989, ESA SP-297 (December 1989).

    Google Scholar 

  3. G. Berry. Real-time programming: special purpose or general purpose languages. In Proceedings of the IFIP World Computer Congress, San Francisco, 1989 (Invited talk).

    Google Scholar 

  4. E. Coste-Manière, B. Espiau, E. Rutten. Task-level robot programming combining object-oriented design and synchronous approach: a tentative study. Research Report INRIA, to appear, June 1991.

    Google Scholar 

  5. DARPA Santa Cruz Workshop on Planning, W. Swartout ed., AI Magazine, 9(2):115–131, Summer 1988.

    Google Scholar 

  6. M. Ghallab, R. Alami, R. Chatila. Dealing with time in planning and execution monitoring. In R. Bolles ed. Robotics Research 4. MIT Press, 1988.

    Google Scholar 

  7. J. Hendler, A. Tate, M. Drummond. AI Planning: Systems and Techniques. AI Magazine, 11(2):61–77, Summer 1990.

    Google Scholar 

  8. J. Hertzberg, A. Hortz. Towards a theory of conflict detection and resolution in nonlinear plans. In Proceedings of the IJCAI '89, pages 937–942, Detroit, Michigan, August 1989.

    Google Scholar 

  9. J. Hultman, A. Nyberg, M. Svensson. A software architecture for autonomous robots. Technical report no LAIC-IDA-89-TR1, Department of Computer and Information Science, University of Linköping, Sweden, 1989.

    Google Scholar 

  10. E. Rutten. Représentation en logique temporelle de plans d'actions dotés d'une structure de contrôle impérative. Application à l'assistance à l'opérateur en téléopération. Thèse de Doctorat de l'Université de Rennes I, 13 Juillet 1990. (in French).

    Google Scholar 

  11. E. Rutten, J.C. Paoletti, G. André, L. Marcé. A task-level language for operator assistance in teleoperation. In Proceedings of the International Conference on Human Machine Interaction and Artificial Intelligence in Aeronautics and Space, Toulouse, Septembre 1990.

    Google Scholar 

  12. E. Sandewall, R. Rönnquist. A representation of action structures. In Proceedings of the AAAI '86, pages 89–97, Philadelphia, August 1986.

    Google Scholar 

  13. S. Vere. Planning in time: windows and durations for activities and goals. IEEE Pattern Analysis and Machine Intelligence, PAMI 3:246–267, May 1983.

    Google Scholar 

  14. R. Voltz. Report of the robot programming languages working group. NATO Workshop on Robot Programming Languages. IEEE Journal of Robotics and Automation, RA 4(1):86–90, February 1988.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. CWI (Centre for Mathematics and Computer Science), Kruislaan 413, 1098 SJ, Amsterdam, The Netherlands

    Eric Rutten

Authors
  1. Eric Rutten
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Pedro Barahona Luís Moniz Pereira António Porto

Rights and permissions

Reprints and permissions

Copyright information

© 1991 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Rutten, E. (1991). A temporal representation for imperatively structured plans of actions. In: Barahona, P., Moniz Pereira, L., Porto, A. (eds) EPIA 91. EPIA 1991. Lecture Notes in Computer Science, vol 541. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-54535-2_32

Download citation

  • DOI: https://doi.org/10.1007/3-540-54535-2_32

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-54535-4

  • Online ISBN: 978-3-540-38459-5

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation