Integration with High-Level Reasoning
Project Director
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Dr. Ashok Goel.
Projects
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- Router is an integrated planning and learning system for
autonomous mobile robots. It integrates case-based and model-based
reasoning for planning navigation paths in geographical spaces. In the
model-based mode, the system plans paths by heuristically searching a
hierarchical model of the navigation space; and in the case-based
mode, it plans new paths by adapting and combining previously planned
paths. It uses a form of meta-reasoning for selecting a specific
method at run-time. It also chunks the new plans into cases for
potential reuse.
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- RAURA is an instantiation of ROUTER in the AuRA architecture
(AuRA is a hybrid architecture for autonomous mobile robots
capable of both deliberative planning and reactive control
developed by the Robotics group).
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- REFLECS is a reflective system capable of learning strategies
for reactive control by diagnosing and repairing failed reactive
strategies.
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- AUTOGNOSTIC is a computational model of model-based
self-redesign. The AUTOGNOSTIC project explores the
issues of functional and strategic self-redesign in AI
systems. The key idea is that AI systems, such as ROUTER, can
be viewed as abstract devices and failure-driven learning can
be viewed as device redesign problem solving. A meta-model of
how the problem solving in the AI system works can enable the
system to reflect on its experiences, especially its failures,
and to redesign the problem solver.
Please send comments to: robot-lab-www@cc.gatech.edu