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.200222.004How to use a DOI?
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/