dc.contributor.author |
Abbas, Tanveer |
en |
dc.contributor.author |
MacDonald, Bruce |
en |
dc.coverage.spatial |
Singapore |
en |
dc.date.accessioned |
2011-11-14T19:11:13Z |
en |
dc.date.issued |
2009 |
en |
dc.identifier.citation |
Advanced Intelligent Mechatronics, 2009. IEEE/ASME International Conference on, Singapore, 14 Jul 2009 - 17 Jul 2009. AIM. 905-910. 2009 |
en |
dc.identifier.isbn |
978-1-4244-2852-6 |
en |
dc.identifier.uri |
http://hdl.handle.net/2292/8984 |
en |
dc.description.abstract |
Internal task representation is a key design choice for programming by demonstration (PbD) systems. A good representation must include all the desired effects of the task and a set of rules to guide the execution process. Most existing task representations describe the task as a set of primitive actions which can be executed one by one using the specified pre and post conditions to achieve the task goals. We consider two main issues: i) a primitive action may not result in the same effect each time it is executed depending upon the initial conditions of the robot and changes in the environment; and ii) runtime changes in the environment may change the execution priority of the primitives and require termination of a primitive prior to its completion. We propose two improvements to address the above two issues. In the proposed task representation the primitives are replaced by elementary targets - the desired effects, and the pre/post conditions are replaced with execution control rules (ECRs). The proposed ECRs demonstrate better control of the task execution flow by invoking five actions - initiation, termination, completion, suspension and resumption. Example tasks are presented in a helicopter simulator to evaluate the proposed task representation. |
en |
dc.relation.ispartof |
Advanced Intelligent Mechatronics, 2009. IEEE/ASME International Conference on |
en |
dc.relation.ispartofseries |
AIM |
en |
dc.rights |
Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. |
en |
dc.rights.uri |
https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm |
en |
dc.title |
A task representation based on elementary targets (ETs) and execution control rules (ECRs) |
en |
dc.type |
Conference Item |
en |
dc.identifier.doi |
10.1109/AIM.2009.5229896 |
en |
pubs.begin-page |
905 |
en |
dc.rights.holder |
Copyright: IEEE |
en |
pubs.end-page |
910 |
en |
pubs.finish-date |
2009-07-17 |
en |
pubs.start-date |
2009-07-14 |
en |
dc.rights.accessrights |
http://purl.org/eprint/accessRights/RestrictedAccess |
en |
pubs.subtype |
Proceedings |
en |
pubs.elements-id |
98856 |
en |
pubs.org-id |
Engineering |
en |
pubs.org-id |
Department of Electrical, Computer and Software Engineering |
en |
pubs.record-created-at-source-date |
2010-09-01 |
en |