A Framework for Goal Generation and Management

Marc Hanheide; Nick Hawes; Jeremy Wyatt; Moritz Göbelbecker; Michael Brenner; Kristoffer Sjöö; Alper Aydemir; Patric Jensfelt; Hendrik Zender; Geert-Jan Kruijff

In: Proceedings of the AAAI Workshop on Goal-Directed Autonomy. AAAI Workshop on Goal Directed Autonomy, July 12, Atlanta, GA, USA, AAAI, 2010.


Goal-directed behaviour is often viewed as an essential char- acteristic of an intelligent system, but mechanisms to generate and manage goals are often overlooked. This paper addresses this by presenting a framework for autonomous goal generation and selection. The framework has been implemented as part of an intelligent mobile robot capable of exploring unknown space and determining the category of rooms autonomously. We demonstrate the efficacy of our approach by comparing the performance of two versions of our integrated system: one with the framework, the other without. This investigation leads us conclude that such a framework is desirable for an integrated intelligent system because it reduces the complexity of the problems that must be solved by other behaviour-generation mechanisms, it makes goal-directed behaviour more robust in the face of a dynamic and unpredictable environments, and it provides an entry point for domain-specific knowledge in a more general system.


German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz