A MULTIVALUED LOGIC APPROACH TO INTEGRATING PLANNING AND CONTROL

Intelligent agents embedded in a dynamic, uncertain environment should incorporate capabilities for both planned and reactive behavior. Many current solutions to this dual need focus on one aspect, and treat th e other one as secondary. We propose an approach for integrating plann ing and control based on behavior schemas, which link physical movemen ts to abstract action descriptions. Behavior schemas describe behavior s of an agent, expressed as trajectories of control actions in an envi ronment, and goals can be defined as predicates on these trajectories. Goals and behaviors can be combined to produce conjoint goals and com plex controls. The ability of multivalued logics to represent graded p references allows us to formulate tradeoffs in the combination. Two co mposition theorems relate complex controls to complex goals, and provi de the key to using standard knowledge-based deliberation techniques t o generate complex controllers. We report experiments in planning and execution on a mobile robot platform, Flakey.