Parallel plan execution and re-planning on a mobile robot using state machines with HTN planning systems.
Lasse EinigDenis KlimentjewSebastian RockelLiwei ZhangJianwei ZhangPublished in: ROBIO (2013)
Keyphrases
- planning systems
- plan execution
- state machines
- mobile robot
- planning problems
- dynamic environments
- plan generation
- htn planning
- hierarchical task network
- nondeterministic domains
- temporal constraints
- ai planning
- state machine
- temporal planning
- planning domains
- planning process
- petri net
- forward chaining
- recurrent networks
- control knowledge
- plan recognition
- domain independent
- planning tasks
- temporal reasoning
- state space
- heuristic search
- orders of magnitude
- sequence diagrams
- search algorithm
- deterministic domains