J. Tom and J. Glasse, position=Table Glasse(Tom)position=Table Glasse(Jido)position=Table Glasse(John)position=Table Glasse(Tom), position=Table Glasse(Jido).position=Table Glasse(John).position=Table Glasse(Tom).position=Known Glasse(Jido).position=Unknown John?leaves Tom?Cleans?the?room Init?state Tom?not?observable

J. Glasse, position=Table Glasse(Tom).position=Tom Glasse(Jido)

. Max_distance, C1)==true; OnLine.(C2,?L2)==true; Distance_variation.(C2,?Pf2)==true

. Max_distance, C1)==true; OnLine.(C2,?L2)==true; Distance_variation.(C2,?Pf2)==true

. Dans-ces-tâches, identifiant de la requête de planification axt-id, l'identifiant que HATP donnè a la tâche hatp-id, parent-task va serviràservirà décrire la hiérarchie des tâches en identifiant la tâche m` ere de la tâche en cours. On retrouve ensuite le nom de la tâche, les acteurs et la liste des paramètres de celle-ci

. Les-liens-de-précédence, HATP-LINK (axt-id <ID>) (t-1 <taskID> ) (t-2 <taskID>))

. Moveformanipulate, Action de déplacement qui a pour but la manipulation d'objet

. Moveforlook, Action de déplacement qui a pour but l'observation

. Moveforgetorgive, Action de déplacement qui a pour but l'´ echange d'objets avec un autre agent

. Movefortalk, Action de déplacement qui a pour but le dialogue avec un autre agent

E. Maintenant and . Replan, par exemple un autre agent qui déplace un objet Si le but de notre robot porte sur cet objet, cela m` enera inévitablementinévitablementà unéchecunéchec. (2) les causes internes, c'est-` a-dire les défaillances du système. Par exemple, si notre robot doit prendre un objet et qu'il n'arrive pasàpasà le localiser sur une tablè a cause d'un défaut au niveau de ses caméras, cela m` enerá egalementàegalementà unéchecunéchec. La figure 6.18 illustre les différentesdifférentesétapes de la réalisation de la tâche CleanFurniture(COFFEETABLE), les communications entre HATP et SHARY et les streams des deux agents robot et humain Au début et comme précédemment, le robot reçoit un ordre verbal de l'humain lui demandant de nettoyer la table. SHARY envoie la requêtè a HATP après avoir misàmisà jour la base de faits. Celui-ci lui retourne un plan que le superviseur commencècommencè a exécuter. ArrivéArrivéà la tâche PickUp (prendre l'objet), le superviseur commence par localiser l'objet et s'aperçoit que l'objet est inaccessible. Dans ce cas, le superviseur SHARY metàmetà jour le fait (YELLOWBOTTLE.reachable=false) et ré-envoie une requête de planificationàplanificationà HATP, avec la misè a jour de sa base de faits, qui lui indique que le but n'est pas atteint et qu'il faudra redemander une planification après exécution de la séquence actuelle

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