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Representing and analyzing action plans as networks of concurrent processes

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1 Author(s)
Lyons, D.M. ; North American Corp., Briarcliff Manor, NY, USA

The problem of constructing a plan representation that can deal with the complexity of representing and analyzing robot behavior in uncertain and dynamic environments is addressed. A concurrent-process based representation is developed which represents both the plan (or controller) and the uncertain and dynamic environment in which the plan operates. A methodology is outlined for analyzing the behavior of this interacting system of plan and world. This methodology is illustrated with a mixed-batch example from the domain of robotic kitting. To balance the theoretical work, a description of the implemented robot kitting cell is presented

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Robotics and Automation, IEEE Transactions on  (Volume:9 ,  Issue: 3 )