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Conference Papers Year : 2008

Automatic Design of Robot Behaviors through Constraint Networks Acquisition

Mathias Paulin
Jean Sallantin
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Abstract

Control architectures, such as the LAAS architecture [1], CLARATY [12] and HARPIC [9], have been developped to provide autonomy to robots. To achieve a robot's task, these control architectures plan sequences of sensorimotor behaviors. Currently carried out by roboticians, the design of sensorimotor behaviors is a truly complex task that can require many hours of hard work and intensive computations. In this paper, we propose a Constraint Programming-based framework to interact with roboticians during the sensori-motor behaviors design. A constraint network acquisition platform and a CSP-Based planner are used to automatically design sensorimotor behaviors. Moreover, our architecture exploits the propagation properties of the acquired CSPs to supervise the execution of a given sensorimotor behavior. Some experimental results are presented to validate our approach.
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Dates and versions

lirmm-00349025 , version 1 (09-11-2020)

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Mathias Paulin, Christian Bessiere, Jean Sallantin. Automatic Design of Robot Behaviors through Constraint Networks Acquisition. ICTAI 2008 - 20th IEEE International Conference on Tools with Artificial Intelligence, Nov 2008, Dayton, OH, United States. pp.275-282, ⟨10.1109/ICTAI.2008.83⟩. ⟨lirmm-00349025⟩
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