In this book, the author presents a new computational model of
forestalling common flaws in autonomous robot behavior. To this
end, robots are equipped with structured reactive plans (SRPs)
which are concurrent control programs that can not only be
interpreted but also be reasoned about and manipulated. The author
develops a representation for SRPs in which declarative statements
for goals, perceptions, and beliefs make the structure and purpose
of SRPs explicit and thereby simplify and speed up reasoning about
SRPs and their projections; furthermore a notation is introduced
allowing for transforming and manipulating SRPs. Using this
notation, a planning system can diagnose and forestall common flaws
in robot plans that cannot be dealt with in other planning
representations. Finally the language for writing SRPs is extended
into a high-level language that can handle both planning and
execution actions.
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