Abstract
We begin by motivating the use of abstraction in interleaving control systems. In Section 7.2, we introduce new definitions, differentiating ground problem spaces from abstract problem spaces as well as moving to a new graph formalism in lieu of state set transition graphs. Section 7.3 defines an abstraction system using the new terminology, as well as specialized definitions of soundness and completeness in the context of a specific abstraction system control algorithm. Section 7.4 provides examples of useful abstractions and analyses of their performance. Finally, Section 7.5, Related Work, concentrates primarily on the relevance of our abstraction system formalism to specific cases of abstraction in motion planning.
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© 1997 Springer Science+Business Media New York
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Nourbakhsh, I.R. (1997). Strategic Subgoaling: Using Abstraction Systems. In: Interleaving Planning and Execution for Autonomous Robots. The Springer International Series in Engineering and Computer Science, vol 385. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-6317-4_7
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DOI: https://doi.org/10.1007/978-1-4615-6317-4_7
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4613-7900-3
Online ISBN: 978-1-4615-6317-4
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