Ralph: Heterogeneous knowledge representation

Description

• RALPH utilizes six different knowledge types that vary in their tradeoff between flexibility of planning application and amount of computation required to utilize.
• Each execution architecture utilizes different knowledge to provide varying tradeoffs between the quality of planning and the speed of planning.
• Although the different knowledge is treated separately, combinations of knowledge that has been used to reason succsessfully about a plan, such as A,B,C and A,B,F knowledge, have the potential to be compiled down to more reactive knowledge combinations such as A,D or A,E. This may form the basis for learning in other versions of the architecture.