Ci -> Ai 產生式是以這樣一種方式組織:對於每個動作Ai來說,如果正常情況下不斷執行這個動作,那么它最終可以使TR規則樹(見圖)中某個更高的條件為真。可以把TR樹的執行看成是可適應的,因為如果在控制環境中某個未預料到的事件逆轉了前面動作的效果,那么TR執行過程會退回到較低層反映那個條件的規則條件。從這一點來看,它會根據滿足所有更高層目標的需要重新啟動。類似的,如果意外發生了某個好的現象,那么TR執行過程會自動切換到對應於這個成立條件的動作,從這個意義上來說,它具有機會性。
Benson(1994)和Nilsson(1995)已經把teleo-reactive規劃套用到很多領域,包括控制分布機器人主體和建立飛行模擬器。Klein et al.(1999,2000)已經使用teleo-reactive規劃程式來建立和檢驗一種可移植的控制結構來加速粒子束。這些研究指出在粒子束控制領域使用teleo-reactive控制程式有很多好處:
N. Nilsson, An animated Java applet of a block-stacking robot using the triple-tower architecture and T-R programs.
Weiglhofer M (2007) Extended Teleo-Reactive Compiler.
相關出版物
Books
K. L. Clark and P. J. Robinson,Programming Robotic Agents: A Teleo-Reactive Multi-Tasking Approach, to appear, 2016, Springer.
Book Chapters
Benson, S., and Nilsson, N., “Reacting, Planning and Learning in an Autonomous Agent”, inMachine Intelligence 14, K. Furukawa, D.Michie, and S.Muggleton, (eds.),Oxford: the Clarendon Press, 1995. [An early paper describing learning and architectural ideas]
Kochenderfer, M., “Evolving Hierarchical and Recursive Teleo-reactive Programs through Genetic Programming” ,Springer Lecture Notes on Computer Science, 2003.
Asghar, M.R., Russello, G. “Automating consent management lifecycle for electronic healthcare systems Medical Data Privacy Handbook“, pp. 361-387. 2005.
PhD, Msc & undergraduate Theses
Benson, S., Learning Action Models for Reactive Autonomous Agents, PhD Thesis, Department of Computer Science,StanfordUniversity, 1996. [Explores how T-R programs can be generated by an automatic planning system using action effect descriptions learned through experience by an extension of inductive logic programming methods]
Moreno F. Task Specification for Drones using the Teleo-Reactive Approach. Undergraduate thesis, Technical University of Cartagena, Supervisor: Pedro Sánchez Palma, Spain, September 2015.
Vargas B., Aprendizaje de Programas Teleo-Reactivos para Robótica Móvil, PhD Thesis, Instituto Nacional de Astrofísica, Óptica y Electrónica, 2009.
Webb R. Implementing a teleo-reactive programming system, PhD Thesis,(Submitted on 14 Sep 2015).
Other
Champandard A.J., “Teleo-Reactive Programs for Agent Control“, Web review published inDecember 20, 2007.
Dongol B, Hayes IJ, Robinson PJ., “Reasoning About Real-Time Teleo-Reactive Programs“, Technical Report SSE-2010-01, Division of Systems and Software Engineering Research, The University of Queensland, 2010
Gamble C, Riddle S.,”Dependability Explicit Metadata: Extended Report on Properties, Policies and Exemplary Application to Case Studies”, Technical Report CS-TR-1248, The Newcastle University, 2011.
Gordon, E., and Logan, B.,“GRUE: A Goal Processing Architecture for Game Agents”, Computer Science Technical Report No. NOTTCS-WP-2003-1, School of Computer Science and Information Technology, University of Nottingham, 2003.
Kowalski R, Sadri F., “Teleo-Reactive Abductive Logic Program”,Technical Report. The Imperial College London, 2011
Mousavi SR, Broda K., “Simplification of Teleo-Reactive Sequences”, Technical Report, Imperial College London, 2003.
Nilsson, N. J., “Learning Strategies for Mid-Level Robot Control: Some Preliminary Considerations and Results”, May, 2000. [Discusses prospects for learning T-R programs, describes some initial experiments, and makes some proposals.]
Saigol Z, Py F, Rajan K, McGann C, Wyatt J, Dearden R., “Randomized Testing for Robotic Plan Execution for Autonomous Systems”, In: Proceedings of IEEE/OES-10, 2010.
Salomaki B, Choi D, Nejati N, Langley P., “Learning Teleoreactive Logic Programs by Observation”, In: Proceedings of AAAI-05, 2005.
Srinivasan, P., “Development of Block-Stacking Teleo-Reactive Programs Using Genetic Programming”, (Student paper), 2002.