Publications related to Fawkes

Interruptible Task Execution with Resumption in Golog

In Proc. Twenty-Second European Conference on Artificial Intelligence (ECAI)

Authors: Gesche Gierse, Tim Niemueller, Jens Claßen, Gerhard Lakemeyer
Type: Article in Conference Proceedings
Publication Date: August 2016
Conference: Twenty-Second European Conference on Artificial Intelligence (ECAI), The Hague, The Netherlands
Download: intrgolog-ecai2016.pdf
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Abstract: Mobile robots should perform a growing number of tasks and react to time-critical events. Thus, the ability to interrupt a task and resume it later is crucial. While interleaved execution occurs often in robotics, existing approaches do not consider the fact that interrupting a task and resuming an interrupted task often requires intermediate steps. In this paper we present an approach to interruptible task execution with resumption. We propose IntRGolog which extends IntRGolog by task interruption and resumption through introducing new constructs to determine and fulfill the requirements of tasks. Our experiments on a service robot and in simulation show that the ability to switch to another task enables a robot to react in a swift and reliable fashion to new events.

BibTeX
@InProceedings{intrgolog-ecai2016-2016,
  title =	{{Interruptible Task Execution with Resumption in Golog}},
  author =	{Gesche Gierse and Tim Niemueller and Jens Claßen and Gerhard Lakemeyer},
  booktitle =	{Proc. of Twenty-Second European Conference on Artificial Intelligence (ECAI)},
  address =	{The Hague, The Netherlands},
  year =	{2016},
}