title   
  

A systematic analysis of levels of integration between high-level task planning and low-level feasibility checks

Erdem, Esra and Patoğlu, Volkan and Schüller, Peter (2016) A systematic analysis of levels of integration between high-level task planning and low-level feasibility checks. AI Communications, 29 (2). pp. 319-349. ISSN 0921-7126 (Print) 1875-8452 (Online)

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Official URL: http://dx.doi.org/10.3233/AIC-150697

Abstract

We provide a systematic analysis of levels of integration between discrete high-level reasoning and continuous low-level feasibility checks to address hybrid planning problems in robotic applications. We identify four distinct strategies for such an integration: (i) low-level checks are done for all possible cases in advance and the results are used during plan generation; (ii) low-level checks are done exactly when they are needed during the search for a plan; (iii) low-level checks are done after a plan is computed, and if the plan is found infeasible then a new plan is computed; (iv) similar to the previous strategy but the results of previous low-level checks are used during replanning. We analyze the usefulness of these strategies and their combinations by experiments on hybrid planning problems in different robotic application domains, in terms of computational efficiency and plan quality (relative to its feasibility).

Item Type:Article
Additional Information:Conference: 21st International Workshop of the Rappresentazione-della-Conoscenza-e-Ragionamento-Automatico (RCRA) / Location: Vienna, AUSTRIA / Date: JUL 17-18, 2014
Uncontrolled Keywords:Task planning; motion planning; hybrid planning; knowledge representation and reasoning; answer set programming; cognitive robotics; experimental analysis
Subjects:UNSPECIFIED
ID Code:30485
Deposited By:Volkan Patoğlu
Deposited On:12 Nov 2016 15:10
Last Modified:12 Nov 2016 15:10

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