A New Generation of Rules-based Approach:Mivar-based Intelligent Planning of Robot Actions(MIPRA)and Brains for Autonomous Robots

作     者：Oleg Varlamov Dmitry Aladin 

作者机构：Department of Information Processing and Management SystemsRI MIVARBauman Moscow State Tchnical University(BMSTU)Moscow105005Russian Federation 

出 版 物：《Machine Intelligence Research》 (机器智能研究（英文版）)

年 卷 期：2024年第21卷第5期

页      面：919-940页

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Bauman Moscow State Technical University, Bauman MSTU Council on grants of the President of the Russian Federation 

主　　题：Autonomous robot blocks world decision-making system expert systems intelligent planning 

摘      要：To create autonomous robots,both hardware and software are *** enormous progress has already been made in the field of equipment,then robot software depends on the development of artificial *** article proposes a solution for creating“logicalbrains for autonomous robots,namely,an approach for creating an intelligent robot action planner based on Mivar expert *** application of this approach provides opportunities to reduce the computational complexity of solving planning problems and the requirements for the computational characteristics of hardware platforms on which intelligent planning systems are *** theoretically and practically justify the expediency of using logically solving systems,in particular Mivar expert systems,to create intelligent planners,the MIPRA(Mivar-based Intelligent Planning of Robot Actions)planner was created to solve problems such as STRIPS for permutation cubes in the Blocks World *** planner is based on the platform for creating expert systems of the *** a result,the Mivar planner can process information about the state of the subject area based on the analysis of cause-effect relationships and an algorithm for automatically constructing logical inference(finding a solution from“Givento“Find).Moreover,an important feature of the MIPRA is that the system is built on the principles of a“white box,due to which the system can explain any of its decisions and provide justification for the actions performed in the form of a retrospective of the stages of the decision-making *** preparing a set of robot actions aimed at changing control objects,expert knowledge is used,which is the basis for the functioning algorithms of the *** approach makes it possible to include an expert in the process of organizing the work of the intelligent planner and use existing knowledge about the subject *** experiments of this study have shown that instead of many hours and powerfu