This document, titled "SHAKEY THE ROBOT," is a technical report from the Artificial Intelligence Center at SRI International, published in April 1984. It provides an overview of the Shakey project, a mobile robot system developed from 1966 to 1972. The report aims to make the detailed technical information from the project more accessible to current robotics researchers. The Shakey system was designed to function independently in realistic environments, with the ability to perceive and model its surroundings. It could perform tasks requiring planning, route-finding, and rearranging simple objects. The report highlights several key aspects of the project, including: 1. **System Architecture**: The Shakey system was a hierarchical structure with five levels: vehicle and user programs, low-level actions (LLAs), intermediate-level actions (ILAs), planning mechanisms, and executive control. 2. **World Model**: The robot's world model was a collection of predicate calculus statements stored in an indexed data structure. This model was used for planning and theorem-proving activities. 3. **LLAs and ILAs**: LLAs were low-level control programs for basic robot actions like rolling, turning, and taking pictures. ILAs were more complex routines that could plan routes and recover from errors. 4. **Error Detection and Recovery**: The system used a Markov algorithm formalization to detect and handle errors by updating the world model and returning control to the calling routine if necessary. 5. **Planning Mechanism**: The STRIPS planning mechanism was used to construct sequences of ILAs for completing tasks. The report also includes detailed descriptions of the robot's hardware, software, and specific actions, along with tables and figures illustrating the system's components and functionalities.This document, titled "SHAKEY THE ROBOT," is a technical report from the Artificial Intelligence Center at SRI International, published in April 1984. It provides an overview of the Shakey project, a mobile robot system developed from 1966 to 1972. The report aims to make the detailed technical information from the project more accessible to current robotics researchers. The Shakey system was designed to function independently in realistic environments, with the ability to perceive and model its surroundings. It could perform tasks requiring planning, route-finding, and rearranging simple objects. The report highlights several key aspects of the project, including: 1. **System Architecture**: The Shakey system was a hierarchical structure with five levels: vehicle and user programs, low-level actions (LLAs), intermediate-level actions (ILAs), planning mechanisms, and executive control. 2. **World Model**: The robot's world model was a collection of predicate calculus statements stored in an indexed data structure. This model was used for planning and theorem-proving activities. 3. **LLAs and ILAs**: LLAs were low-level control programs for basic robot actions like rolling, turning, and taking pictures. ILAs were more complex routines that could plan routes and recover from errors. 4. **Error Detection and Recovery**: The system used a Markov algorithm formalization to detect and handle errors by updating the world model and returning control to the calling routine if necessary. 5. **Planning Mechanism**: The STRIPS planning mechanism was used to construct sequences of ILAs for completing tasks. The report also includes detailed descriptions of the robot's hardware, software, and specific actions, along with tables and figures illustrating the system's components and functionalities.