Successful application of mivar expert systems for MIPRA – solving action planning problems for robotic systems in real time

Abstract

For the first time in the world, mivar expert systems were used for solving action planning problems for robotic systems. The KESMI (Wi!Mi) Razumator solution was used to create a mivar-based system called MIPRA (mivar-based intelligent planner of robot actions), which delivers a qualitative (by several orders of magnitude) boost to the process of solving STRIPS-type problems, i. e. constructing algorithms for planning the actions of a robot tasked with relocating blocks in the blocks-world domain. Practical experiments, which any researcher can verify and replicate, have shown that, instead of many hours and powerful multiprocessor servers, MIPRA, runs on an ordinary computer and takes seconds to solve problems involving relocations of the following numbers of blocks: 10 blocks – 0.98 s; 50 blocks – 3.44 s; 100 blocks – 10.57 s; 200 blocks – 38.32 s, and 300 blocks – 84.07 s. The mivar approach implemented in MIPRA allows it to handle tasks with more than three towers on the table and with varied numbers of blocks, even in changing conditions. This creates an opportunity, in the future, to solve a greater variety of action planning problems for different robots, such as, e. g., ensuring logical compliance with traffic regulations for autonomous vehicles, etc.