AgentMT(TR) - a multi-threaded architecture using Teleo-Reactive plans

AgentMT(TR) - a multi-threaded architecture using Teleo-Reactive plans

Abstract

In this talk we will argue that a multi-threaded control architecture with a library of partial plans, that are a generalization of Nilsson's Teleo-Reactive (TR) procedures, allows smooth integration of three key levels of robot control: 1: Speedy but goal directed response to changing sensor readings2: Switching between level 1 control procedures as higher level inferred beliefs change3: Reacting to events and goals by selecting appropriate level 2 plans A key feature of TR procedure control is that the robot can be helped or hindered in its task and the TR procedure will immediately respond by skipping actions, if helped, or by redoing actions, if hindered. This operational semantics leads naturally to a multi-threaded implementation. A multi-tasking robot can respond to events: new goal events or just significant belief updates triggered by sensor readings. It then selects an appropriate plan of action for each event using event/plan selection rules. We conclude by describing our top level control architecture which borrows from classic BDI architectures, particularly AgentSpeak(L), but is multi-threaded and using TR plans.