Deliberation for autonomous robots: A survey

Félix Ingrand 1 Malik Ghallab 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
Abstract : Autonomous robots facing a diversity of open environments and performing a variety of tasks and interactions need explicit deliberation in order to fulfill their missions. Deliberation is meant to endow a robotic system with extended, more adaptable and robust functionalities, as well as reduce its deployment cost. The ambition of this survey is to present a global overview of deliberation functions in robotics and to discuss the state of the art in this area. The following five deliberation functions are identified and analyzed: planning, acting, monitoring, observing, and learning. The paper introduces a global perspective on these deliberation functions and discusses their main characteristics, design choices and constraints. The reviewed contributions are discussed with respect to this perspective. The survey focuses as much as possible on papers with a clear robotics content and with a concern on integrating several deliberation functions.
Complete list of metadatas

Cited literature [233 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01137921
Contributor : Felix Ingrand <>
Submitted on : Tuesday, March 31, 2015 - 4:48:44 PM
Last modification on : Friday, June 14, 2019 - 6:31:07 PM
Long-term archiving on : Tuesday, April 18, 2017 - 6:28:29 AM

File

paper-final.pdf
Files produced by the author(s)

Identifiers

Citation

Félix Ingrand, Malik Ghallab. Deliberation for autonomous robots: A survey. Artificial Intelligence, Elsevier, 2017, 247 pp.10-44. ⟨http://www.sciencedirect.com/science/article/pii/S0004370214001350?via%3Dihub⟩. ⟨10.1016/j.artint.2014.11.003⟩. ⟨hal-01137921⟩

Share

Metrics

Record views

578

Files downloads

2140