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Online task merging with a hierarchical hybrid task planner for mobile service robots
Osnabrück Univ., Osnabrück, Germany; DFKI Robotics Innovation Center, Osnabrück, Germany.
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-4527-7586
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-9652-7864
Osnabrück Univ., Osnabrück, Germany; DFKI Robotics Innovation Center, Osnabrück, Germany.
2015 (English)In: 2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), New York: IEEE , 2015, p. 6459-6464Conference paper, Published paper (Refereed)
Abstract [en]

Plan-based robot control has to consider a multitude of aspects of tasks at once, such as task dependency, time, space, and resource usage. Hybrid planning is a strategy for treating them jointly. However, by incorporating all these aspects into a hybrid planner, its search space is huge by construction. This paper introduces the planner CHIMP, which is based on meta-CSP planning to represent the hybrid plan space and uses hierarchical planning as the strategy for cutting efficiently through this space. The paper makes two contributions: First, it describes how HTN planning is integrated into meta-CSP reasoning leading to a planner that can reason about different forms of knowledge and that is fast enough to be used on a robot. Second, it demonstrates CHIMP’s task merging capabilities, i.e., the unification of different tasks from different plan parts, resulting in plans that are more efficient to execute. It also allows to merge new tasks online into a plan that is being executed. This is demonstrated on a PR2 robot.

Place, publisher, year, edition, pages
New York: IEEE , 2015. p. 6459-6464
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keywords [en]
Task planning, Al reasoning methods
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-45487DOI: 10.1109/IROS.2015.7354300ISI: 000371885406087Scopus ID: 2-s2.0-84958157699ISBN: 978-1-4799-9994-1 (print)OAI: oai:DiVA.org:oru-45487DiVA, id: diva2:844587
Conference
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 28 - October 2, 2015
Projects
RACE
Funder
EU, FP7, Seventh Framework ProgrammeAvailable from: 2015-08-06 Created: 2015-08-06 Last updated: 2018-07-05Bibliographically approved

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Mansouri, MasoumehPecora, Federico

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CiteExportLink to record
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Citation style
  • apa
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  • Other locale
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Output format
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