Abstract
In the robotics domain, the state of the world may change in unexpected ways during execution of a task. From a planning perspective, these discrepancies may render the currently executed plan invalid and thus need to be detected as soon as possible. We tackle this problem by translating the problem of plan execution monitoring to a runtime verification problem. We propose a template based framework that allows detecting changes of the state during both plan generation and plan execution. We integrated our approach into a domain-independent platform for planning, executing, and monitoring.
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Reinbacher, T., Guzmán-Alvarez, C. (2013). Template-Based Synthesis of Plan Execution Monitors. In: Pan, JS., Polycarpou, M.M., Woźniak, M., de Carvalho, A.C.P.L.F., Quintián, H., Corchado, E. (eds) Hybrid Artificial Intelligent Systems. HAIS 2013. Lecture Notes in Computer Science(), vol 8073. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40846-5_45
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DOI: https://doi.org/10.1007/978-3-642-40846-5_45
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