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Goal accomplishment tracking for automatic supervision of plan execution

Small, N., Mann, G. and Lee, K. (2013) Goal accomplishment tracking for automatic supervision of plan execution. In: Australasian Conference on Robotics and Automation, 2 - 4 December 2013, UNSW, Sydney



It is common practice to break down plans into a series of goals or sub-goals in order to facilitate plan execution, thereby only burdening the individual agents responsible for their execution with small, easily achievable objectives at any one time, or providing a simple way of sharing these objectives amongst a group of these agents. Ensuring that plans are executed correctly is an essential part of any team management. To allow proper tracking of an agent's progress through a pre-planned set of goals, it is imperative to keep track of which of these goals have already been accomplished. This centralised approach is essential when the agent is part of a team of humans and/or robots, and goal accomplishment is not always being tracked at a low level. This paper presents a framework for an automated supervision sys- tem to keep track of changes in world states so as to chart progress through a pre-planned set of goals. An implementation of this framework on a mobile service robot is presented, and applied in an experiment which demonstrates its feasibility.

Item Type: Conference Paper
Murdoch Affiliation: School of Engineering and Information Technology
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