MADbot: A Motivated And Goal Directed Robot

Alex Coddington, Maria Fox, Jonathan Gough, Derek Long, Ivan Serina

In most work in plan generation and execution the assumption has been made that the goals being addressed by the planning system (and executive) are imposed externally and that once a plan has been constructed to achieve these goals the activity of the planner can cease. Similarly, once the plan has been successfully executed and a state satisfying the externally imposed goals has been reached, it has been assumed that the planning and execution behaviours will suspend until a new goal set and consequent plan has been imposed. These assumptions do not hold for fully autonomous systems, which are capable of directing their own behaviour and prioritising their own goals. The problem we are most concerned with is determining how goals arise during the autonomous behaviour of a system.

Subjects: 1.11 Planning; 17. Robotics

Submitted: May 9, 2005

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