Metareasoning for Robots by Jeffrey W. Herrmann

Author:Jeffrey W. Herrmann
Language: eng
Format: epub, pdf
ISBN: 9783031322372
Publisher: Springer International Publishing

3.2 Locating Metareasoning

As described in Chap. 1, we normally describe metareasoning as the function of a meta-level that is separate from the robot’s object level. This is an accurate model of metareasoning, but it is not necessary to implement the meta-level as a separate computational process. It might be easier and better to implement the metareasoning policy in the same code that is running the object level reasoning processes. (Here, “better” means less programming effort and less overhead when running.) In other cases, that type of implementation might require much more effort, however.

First, we’ll describe three different arrangements for locating metareasoning; these are shown graphically in Fig. 3.2.

Fig. 3.2Three arrangements for locating metareasoning with respect to the autonomy software; this figure shows a simplified autonomy stack and assumes that the meta-level is monitoring and controlling the mission planning module. a Metareasoning is a separate process. b Metareasoning is a module in the autonomy software. c Metareasoning is part of the mission planning module

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