(Georgia Institute of Technology, 2011-06)
Dantam, Neil; Stilman, Mike
We present and analyze the Motion Grammar: a
novel unified representation for task decomposition, perception,
planning, and control that provides both fast online control of
robots in uncertain environments and the ability to guarantee
completeness and correctness. The grammar represents a policy
for the task which is parsed in real-time based on perceptual
input. Branches of the syntax tree form the levels of a hierarchical
decomposition, and the individual robot sensor readings are given
by tokens. We implement this approach in the interactive game
of Yamakuzushi on a physical robot resulting in a system that
repeatably competes with a human opponent in sustained gameplay
for the roughly six minute duration of each match.