||In the MARIE-architecture a task is specified as an AND/OR graph.
The AND-nodes are used to specify sequences of required activities,
OR-nodes are used to specify alternatives.
Alternative branches in a plan are a way to make the execution of
a task more robust: depending on the conditions different activities
are performed. Yet, fully specified alternatives make the graph quite large.
This is not only a disadvantage concerning processing-time and memory usage,
but also makes it difficult to verify a full graph.
Thw task for the student will be to replace the fully specified alternatives by
commands for an on-line plan-generator. The candidate has to come with a design
for such an on-line plan-generator, and has to show which efficiency is gained
by this approach, and how many flexibility is lost.
The task can be decomposed into the following steps:
It is strongly recommanded that the candidate has finished the course OOAS
('Ontwikkeling en Ontwerp van Autonome Systemen') succesfully.
- Acquire a good overview of the state of the art in on-line plan-generation
in autonomous systems.
- Review the current alternative braches in the MARIE-plans.
- Design an on-line plan-generator, including its command-interface.
- Implement and test this plan-generator.
- Evaluate the approach, compared with the old implementation and
the state of the art.