This paper describes a timeline-based, domain independent deliberative layer, based on E SA APSI technology, deployed in the context of the Goal Oriented Autonomous Controller (G OAC) project. In particular the paper describes a new controller composed by (1) a planning module that exploits the timeline-based approach provided by the APSI - TRF and is able to model and solve planning problems, (2) a module that dispatches planned timelines, supervises their execution status and entails continuous planning and re-planning. An example will illustrate both modules at work.
APSI-based Deliberation in Goal Oriented Autonomous Controllers
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ESA, Noordwijk, NLD
11th Symposium on Advanced Space Technologies in Robotics and Automation. Proceedings (ASTRA 2011), pp. 5B_1–7, Noordwijk, the Netherlands, 12-14 April 2011