Thomas Reinbacher 1, and César Guzmán-Alvarez 2
University of Vienna1, Universidad Politècnica de València2

This paper appears in: 8th International Conference on Hybrid Artificial Intelligent Systems, HAIS. Salamanca, Spain.

Issue Date: Sep.11-13, 2013

Abstract - download article

In the robotics domain, the state of the world may change inunexpected ways during execution of a task. From a planning perspective, these discrepancies may render the currently executed plan invalid andthus need to be detected as soon as possible. We tackle this problem by translating the problem of plan execution monitoring to a runtimeverification problem. We propose a template based framework that allowsdetecting changes of the state during both plan generation and plan exe-cution. We integrated our approach into a domain-independent platformfor planning, executing, and monitoring.

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