Towards Task-Directed Planning of Cooperating Sensors

Kurzfassung

Recently, there, has been increased emphasis on employing reactive actions in robot task planning. The principle reasons for this change are to increase the robustness of robot actions by making them sensor controlled, and to accomodate dynamic, unpredictable environments. However, in many cases, supporting reactive mechanisms requires choosing sensor inputs for the reactive procedure. This paper addresses the issue of planning the sensing required to carry out a reactive robot program. A preliminary framework for planning is presented, and sonsor planning is illustrated for the problem of replacing a mechanically attached plug in a space environment.