Adaptive Task Sequence Control Under Workspace Uncertainty
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Solution Overview
Problem
Existing control methods for controlled devices like robots fail to account for unexpected environmental changes or uncertainties, leading to the inability to execute planned sequences effectively.
Innovation Solution
A control device that includes a determination unit to assess the feasibility of tasks based on environment and state information, an abstract state setting unit to adjust the workspace state, and a sequence generation unit to generate suitable subtask sequences considering these factors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If a sequence is determined based on initial environment information, then the task can be planned in advance, but the sequence cannot be executed when unexpected environmental changes occur
Solution Approach 1:
The control device dynamically adjusts the sequence by detecting environmental changes during execution and regenerating subsequences when deviations are detected, transforming a static pre-planned sequence into a dynamic adaptive process that maintains reliability despite environmental uncertainties
Solution Approach 2:
The system implements feedback mechanisms by monitoring whether actual environmental conditions match the assumed conditions during sequence execution, and uses this feedback to determine whether to regenerate the sequence or adjust the subtask sequence to maintain task completion
2Measurement precision
If the environment contains uncertain elements, then measurement accuracy is limited, but a complete sequence cannot be generated
Solution Approach 1:
The control device generates a partial sequence based on available environment information with uncertainties, executes the determinable portion, and then supplements or regenesates the sequence later when more information becomes available, rather than requiring complete information before any action
Solution Approach 2:
The system performs preliminary sequence generation with the information available at the start, executes what can be determined, and then performs supplementary sequence generation based on newly acquired environment information to complete the task
Data Source
AI summary
The control device 1A mainly includes a determination means 15A, an abstract state setting means 16A, and a sequence generation means 17A. The determination means 15A determines, based on at least one of environment information relating to environment observed in a workspace of a controlled device to be controlled, state information relating to a state of the controlled device, and stored information that is stored information relating to the objective task to be executed by the controlled device, whether or not the objective task can be completed. The abstract state setting means 16A sets, when determined that the objective task cannot be completed, an abstract state in the workspace based on at least one of the environment information or the stored information. The sequence generation means 17A generates, based on the abstract state and the objective task, a sequence of subtasks to be executed by the controlled device.