Technical Reports (CIS)

Document Type

Technical Report

Date of this Version

January 1995


University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-95-17.


In order to take advantage of autonomous robotic systems, and yet ensure successful completion of all feasible tasks, we propose a mediation hierarchy in which an operator can interact at all system levels. Robotic systems are not robust in handling un-modeled events. Reactive behaviors may be able to guide the robot back into a modeled state and to continue. Reasoning systems may simply fail. Once a system has failed it is difficult to re-start the task from the failed state. Rather, the rule base is revised, programs altered, and the task re-tried from the beginning.



Date Posted: 29 June 2007