Authors
Akira Nakamura1, *, Natsuki Yamanobe1, Ixchel Ramirez Alpizar1, Kensuke
Harada1, 2, Yukiyasu Domae1
1Artificial Intelligence Research Center, National Institute of Advanced
Industrial Science and Technology (AIST), Second Annex, AIST Tokyo Waterfront,
2-4-7 Aomi, Koto-ku, Tokyo 135-0064 Japan
2Robotic Manipulation Research Group, Systems Innovation Department, Graduate
School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka
560-8531, Japan
*Corresponding author. Email: [email protected]
Corresponding Author
Akira Nakamura
Received 6 November 2019, Accepted 12 December 2019, Available Online 28
February 2020.
DOI
https://doi.org/10.2991/jrnal.k.200222.004
Keywords
Cost-oriented planning; error recovery; task stratification; error classification;
automation plant
Abstract
In an automation plant, errors are more likely to occur during complicated
tasks. In the case of a major error, the task is commonly re-executed after
returning to the previous step. Therefore, deciding both the prior step
that should be returned to and the recovery approach after return are important
problems to consider. In this paper, cost-oriented planning of error recovery
taking these two factors into account is proposed.
Copyright
© 2020 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license
(http://creativecommons.org/licenses/by-nc/4.0/