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Open Access research with a European policy impact...

The Strathprints institutional repository is a digital archive of University of Strathclyde's Open Access research outputs. Strathprints provides access to thousands of Open Access research papers by Strathclyde researchers, including by researchers from the European Policies Research Centre (EPRC).

EPRC is a leading institute in Europe for comparative research on public policy, with a particular focus on regional development policies. Spanning 30 European countries, EPRC research programmes have a strong emphasis on applied research and knowledge exchange, including the provision of policy advice to EU institutions and national and sub-national government authorities throughout Europe.

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Non deteriministic planning with evidence and paradoxical reasoning theories

Ceriotti, Matteo and Vasile, Massimiliano and Giardini, Giovanni and Massari, Mauro (2006) Non deteriministic planning with evidence and paradoxical reasoning theories. In: AIAA 57th International Astronautical Congress, 2006-10-02 - 2006-10-06.

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Abstract

Planetary exploration rovers require high level of autonomy: they should act as much as possible without human intervention. Nevertheless, there are intrinsic uncertainties on activity duration, position of the rover, and other environment characteristics, like soil condition, dust on solar panels, temperature, etc.: disregarding them during planning would bring unreliable plans. A novel, non-deterministic planning approach for autonomous rovers will be presented. Epistemic uncertainties in the models and errors are taken into account in the planning process in order to prevent failures. For each plan, reliability is computed and used to predict the safest one, by means of the Dempster-Shafer Theory of Evidence. In addition, the rover has been endowed with the capability of reallocating its goals. By data-fusing payload and navigation information, it assigns interest values to the existing goals or generates new goals. In this way the planner can choose the most interesting scientific objectives to be analyzed, with limited human intervention, and reallocates its goals autonomously. Dezert-Smarandache Theory of Plausible and Paradoxical Reasoning has been used for information fusion. Finally, some applications to the generation of reliable plans are shown. These tests demonstrate how the planner is able to generate plans that maximize both the reliability and the level of interest.