The Planning Coordinator (PCOORD) for robust error recovery and dynamic on-line planning of robotic tasks

摘要

The Planning Coordinator is a logical extension to the Coordination Level of the Intelligent Machine Model, functioning to provide a heretofore unavailable platform for robust error recovery and dynamic on-line planning by autonomous and semi-autonomous robotic systems. This paper introduces the Planning Coordinator and focuses upon its macro-structure, interfaces, and functional description, with respect to its role as the mechanism whereby an existing robotic system requiring significant human intervention can be made more autonomous, thus becoming more robust.