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Current Result Document :
ÇѱÛÁ¦¸ñ(Korean Title) |
´ÙÁß µµ¸ÞÀÎ ¼ºñ½º¸¦ À§ÇÑ Á¤Ã¥ ¸ðµ¨ ÁÖµµ ¸ÞŸ-Ç÷¡´× ±â¹Ý ¹ü¿ëÀû ÀÛ¾÷°ü¸® |
¿µ¹®Á¦¸ñ(English Title) |
A Policy-Based Meta-Planning for General Task Management for Multi-Domain Services |
ÀúÀÚ(Author) |
ÃÖº´±â
À¯ÀνÄ
ÀÌÀçÈ£
Byunggi Choi
Insik Yu
Jaeho Lee
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¿ø¹®¼ö·Ïó(Citation) |
VOL 08 NO. 12 PP. 0499 ~ 0506 (2019. 12) |
Çѱ۳»¿ë (Korean Abstract) |
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¿µ¹®³»¿ë (English Abstract) |
An intelligent robot should decide its behavior accordingly to the dynamic changes in the environment and user¡¯s requirements by evaluating options to choose the best one for the current situation. Many intelligent robot systems that use the Procedural Reasoning System (PRS) accomplishes such task management functions by defining the priority functions in the task model and evaluating the priority functions of the applicable tasks in the current situation. The priority functions, however, are defined locally inside of the plan, which exhibits limitation for the tasks for multi-domain services because global contexts for overall prioritization are hard to be expressed in the local priority functions. Furthermore, since the prioritization functions are not defined as an explicit module, reuse or extension of the them for general context is limited. In order to remove such limitations, we propose a policy-based meta-planning for general task management for multi-domain services, which provides the ability to explicitly define the utility of a task in the meta-planning process and thus the ability to evaluate task priorities for general context combining the modular priority functions. The ontological specification of the model also enhances the scalability of the policy model. In the experiments, adaptive behavior of a robot according to the policy model are confirmed by observing the appropriate tasks are selected in dynamic service environments.
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Å°¿öµå(Keyword) |
ÀÛ¾÷°ü¸®
Áö´ÉÇü ·Îº¿
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Task Management
Intelligent Robot
Meta-Planning
Policy Model
Model-Driven
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