Model-based Reactive Planning Achieved by Eliminate Indirect control through Compilation 2. Eliminate Search for Goal Ordering through Reversibility and serialization 3. Eliminate search to find Suitable transitions by constructing Hierarchical polices Massachusetts Institute of Technology
Artificial Intelligence & Space Systems Laboratories Massachusetts Institute of Technology Model-based Reactive Planning Achieved by: 1. Eliminate Indirect Control . . . through Compilation 2. Eliminate Search for Goal Ordering . . . through Reversibility and Serialization 3. Eliminate Search to find Suitable Transitions . . . by Constructing Hierarchical Polices
Model-based Reactive Planning Achieved by 1. Eliminate Indirect Control through Compilation 2. Eliminate Search for Goal Ordering through Reversibility and serialization 3. Eliminate search to find Suitable transitions by constructing Hierarchical polices Massachusetts Institute of Technology
Artificial Intelligence & Space Systems Laboratories Massachusetts Institute of Technology Model-based Reactive Planning Achieved by: 1. Eliminate Indirect Control . . . through Compilation 2. Eliminate Search for Goal Ordering . . . through Reversibility and Serialization 3. Eliminate Search to find Suitable Transitions . . . by Constructing Hierarchical Polices
To Handle Indirect control cmdout= vcd dcmdin = cmdout inflow= outflow dcmd reset stuck on resettable dcmdin =on dcmdin= off vcmdin=open vcmdin= close dcmi n off stuck failed closed closed flowin dc main vcmdin fle Massachusetts Institute of Technology
Artificial Intelligence & Space Systems Laboratories Massachusetts Institute of Technology To Handle Indirect Control . . . dcmdout= vcmdin off on failed resettable dcmd dcmdin = off in = on dcmdin = reset dcmdin = off dcmdin = dcmdout closed open stuck closed stuck open vcmdin = open vcmdin = close inflow = outflow dcmdin vcmdin flowin flowout
Compile out Constraints --dcmdoutvcmdin aCmiain-aCmiaout inflow=outflow- cm stuck on resettable dcmdin =on dcmdin=off driver=on driver=on md= open vcmdm close dcmd off dcmdin open dcmdin close stuck failed closed closed lowIn dc main vemon flowout- Massachusetts Institute of Technology
Artificial Intelligence & Space Systems Laboratories Massachusetts Institute of Technology . . . Compile Out Constraints closed open stuck closed stuck open vcmdin = open vcmdin = close off on failed resettable dcmd dcmdin = off in = on dcmdin = reset dcmdin = off dcmdin = dcmdout inflow = outflow dcmdout = vcmdin driver = on driver = on dcmdin = open dcmdin = close dcmdin vcmdin flowin flowout
Compile out Constraints cm resettable stuck dcmdin =on dcmdin=off driver=on driver=on dcmd off dcmdin open dcmdin close stuck failed closed closed dc main Massachusetts Institute of Technology
Artificial Intelligence & Space Systems Laboratories Massachusetts Institute of Technology . . . Compile Out Constraints closed open stuck closed stuck open off on failed resettable dcmd dcmdin = off in = on dcmdin = reset dcmdin = off driver = on driver = on dcmdin = open dcmdin = close dcmdin