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- All Subjects: planning
- Creators: Smith, David E.
- Creators: Pijawka, David
Automated planning provides the solution to this problem -- indeed, one of the main motivations that underpinned the beginnings of the field of automated planning was to provide planning support for Shakey the robot with the STRIPS system. For long, however, automated planners suffered from scalability issues that precluded their application to real world, real time robotic systems. Recent decades have seen a gradual abeyance of those issues, and fast planning systems are now the norm rather than the exception. However, some of these advances in speedup and scalability have been achieved by ignoring or abstracting out challenges that real world integrated robotic systems must confront.
In this work, the problem of planning for human-hobot teaming is introduced. The central idea -- the use of automated planning systems as mediators in such human-robot teaming scenarios -- and the main challenges inspired from real world scenarios that must be addressed in order to make such planning seamless are presented: (i) Goals which can be specified or changed at execution time, after the planning process has completed; (ii) Worlds and scenarios where the state changes dynamically while a previous plan is executing; (iii) Models that are incomplete and can be changed during execution; and (iv) Information about the human agent's plan and intentions that can be used for coordination. These challenges are compounded by the fact that the human-robot team must execute in an open world, rife with dynamic events and other agents; and in a manner that encourages the exchange of information between the human and the robot. As an answer to these challenges, implemented solutions and a fielded prototype that combines all of those solutions into one planning system are discussed. Results from running this prototype in real world scenarios are presented, and extensions to some of the solutions are offered as appropriate.
The overarching aim of this dissertation is to evaluate Geodesign as a planning approach for American Indian communities in the American Southwest. There has been a call amongst indigenous planners for a planning approach that prioritizes indigenous and community values and traditions while incorporating Western planning techniques. Case studies from communities in the Navajo Nation and the Tohono O’odham Nation are used to evaluate Geodesign because they possess sovereign powers of self-government within their reservation boundaries and have historical and technical barriers that have limited land use planning efforts. This research aimed to increase the knowledge base of indigenous planning, participatory Geographic information systems (GIS), resiliency, and Geodesign in three ways. First, the research examines how Geodesign can incorporate indigenous values within a community-based land use plan. Results showed overwhelmingly that indigenous participants felt that the resulting plan reflected their traditions and values, that the community voice was heard, and that Geodesign would be a recommended planning approach for other indigenous communities. Second, the research examined the degree in which Geodesign could incorporate local knowledge in planning and build resiliency against natural hazards such as flooding. Participants identified local hazards, actively engaged in developing strategies to mitigate flood risk, and utilized spatial assessments to plan for a more flood resilient region. Finally, the research examined the role of the planner in conducting Geodesign planning efforts and how Geodesign can empower marginalized communities to engage in the planning process using Arnstein’s ladder as an evaluation tool. Results demonstrated that outside professional planners, scientists, and geospatial analysts needed to assume the role of a facilitator, decision making resource, and a capacity builder over traditional roles of being the plan maker. This research also showed that Geodesign came much closer to meeting American Indian community expectations for public participation in decision making than previous planning efforts. This research demonstrated that Geodesign planning approaches could be utilized by American Indian communities to assume control of the planning process according to local values, traditions, and culture while meeting rigorous Western planning standards.