Understanding the RAP System
Understanding the RAP System
This paper describes the RAP Language as it is current distributed. It contains a description of the language for defining RAP tasks and includes a number of improvements since my 1989 thesis. It also describes the use of memory rules for managing changes to the RAP memory and the use of wait-for clauses for synchronizing with continuous, primitive processes. There is also a description of the functions that must be defined so that the RAP system can be interfaced to different control systems and the functions defined by the RAP system to be used by planners.
The manual contains many examples, but a better background discussion can be found in my thesis below.
This paper describes an extension to the RAP system task-net semantics and representation language to enable the effective control of continuous processes. The representation addresses the problems of synchronizing plan expansion with events in the world, coping with multiple, non-deterministic task outcomes, and the description of a simple form of clean-up task.
It is also pointed out that success and failure need no special place in a task network representation. Success and failure are really messages about the execution system's knowledge and do not explicitly define that system's flow of control.
This document describes the RAP system in detail and includes a large number of examples. Descriptions of experiments in Truckworld are also described. Truckworld and the Truckworld RAPs as described can be downloaded with the Rap-World code.
Once the RAP system has been successfully loaded, see the following documents for further information:
