The Coordination of Deliberative Reasoning in a Mobile Robot
Ulam, Patrick D.
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This paper examines the problem of how a mobile robot may coordinate among multiple, possibly conflicting deliberative processes for reasoning about object interactions in a soccer domain. This paper frames deliberative coordination as an instance of the algorithm selection problem and describes a novel framework by which a mobile robot may learn to coordinate its deliberative reasoning in response to constraints upon processing as well as the performance of each deliberative reasoner. Results of the framework are described for a simulated soccer task in which the robot must predict the motion of a fast moving ball in order to prevent it from reaching the goal area.