Adapting the Contact Migration Policy Algorithm to Dynamic Planning in Phoenix

Abstract

The contact migration policy (Grupen 1991) is a reactive approach to constraining (grasping) a rigid body that incrementally constructs a stationary process model of the body in order to refine the grasp. The algorithm employed has many of the characteristics of anytime algorithm (Dean and Boddy 1988), and is therefore an attractive candidate for real-time applications such as positioning bulldozers in the Phoenix fire-fighting simulation. However, we have found that several of the assumptions underlying this algorithm do not hold in the Phoenix environment, so that such a purely reactive control mechanism is inadequate in Phoenix. Based on these findings, and on a broader survey of the application of reactivity in robotic systems, we argue for the mixture of reactive and deliberative (or predictive) mechanisms to coordinate the fire- fighting activities of Phoenix agents.

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Document Details

Document Type
Technical Report
Publication Date
Apr 30, 1992
Accession Number
ADA258322

Entities

People

  • David M. Hart
  • Paul R. Cohen

Organizations

  • National Air and Space Intelligence Center

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Autonomous Agents
  • Autonomous Navigation
  • Cognitive Science
  • Collision Avoidance
  • Computational Science
  • Computer Science
  • Data Analysis
  • Data Science
  • Information Science
  • Motion Planning
  • Reasoning
  • Robot Navigation
  • Robots
  • Statistical Tests
  • Surveys

Fields of Study

  • Computer science

Readers

  • Environmental Engineering.
  • Robotics and Automation.
  • Strategic Security Studies

Technology Areas

  • AI & ML
  • AI & ML - Machine Learning Algorithms
  • Autonomy