Preface
Acknowledgements
Contents
About the Author
1 Introduction to Metareasoning
1.1 Key Concepts
1.1.1 Robot
1.1.2 Autonomy
1.1.3 Reasoning
1.1.4 Rationality
1.1.5 Metareasoning
1.2 Benefits of Metareasoning
1.3 Metareasoning Reading List
1.4 Metareasoning Engineering
1.5 Is It Metareasoning or Not?
1.6 Summary
References
2 Metareasoning Design Options
2.1 Controlling Reasoning
2.2 Metareasoning Modes
2.3 Policy Options
2.3.1 Optimization
2.3.2 Deliberation Scheduling
2.3.3 Heuristics
2.3.4 Learning
2.4 Structures for Multi-robot Systems
2.5 Summary
References
3 Implementing Metareasoning
3.1 Autonomy Software Architectures
3.2 Locating Metareasoning
3.3 Case Study
3.4 Summary
References
4 Synthesizing Metareasoning Policies
4.1 Synthesis Approach
4.1.1 Definition
4.1.2 Characterization
4.1.3 Synthesis
4.2 Case Studies
4.2.1 Motion Planning and Path Optimization
4.2.2 Stopping Anytime Motion Planning
4.2.3 Selecting Collaboration Algorithms
4.2.4 Simultaneous Localization and Mapping
4.2.5 Global and Local Path Planning
4.2.6 Defending a Perimeter
4.3 Discussion
References
5 Testing Metareasoning Policies
5.1 Performance Metrics
5.2 Test Planning
5.3 Visualizing Metareasoning
5.4 Data Analysis
5.5 Assurance Cases
5.6 Replicability
5.7 Summary
References
Index