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.