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Hierarchical Hybrid Planning in a Mobile Service Robot
DFKI-RIC Osnabrück Branch, Osnabrück, Germany; Osnabrück University, Osnabrück, Germany.
Örebro University, School of Science and Technology.
Örebro University, School of Science and Technology.ORCID iD: 0000-0002-9652-7864
DFKI-RIC Osnabrück Branch, Osnabrück, Germany; Osnabrück University, Osnabrück, Germany.
2015 (English)In: KI 2015: Advances in Artificial Intelligence, Springer Berlin/Heidelberg, 2015, 309-315 p.Conference paper, Published paper (Refereed)
Resource type
Text
Abstract [en]

Planning with diverse knowledge, i.e., hybrid planning, is essential for robotic applications. However, powerful heuristics are needed to reason efficiently in the resulting large search spaces. HTN planning provides a means to reduce the search space; furthermore, meta-CSP search has shown promise in hybrid domains, both wrt. search and online plan adaptation. In this paper we combine the two approaches by implementing HTN-style task decomposition as a meta-constraint in a meta-CSP search, resulting in an HTN planner able to handle very rich domain knowledge. The planner produces partial-order plans and if several goal tasks are given, subtasks can be shared, leading to shorter plans. We demonstrate the straightforward integration of different kinds of knowledge for causal, temporal and resource knowledge as well as knowledge provided by an external path planner. The resulting online planner, CHIMP, is integrated in a plan-based robot control system and is demonstrated to physically guide a PR2 robot.

Place, publisher, year, edition, pages
Springer Berlin/Heidelberg, 2015. 309-315 p.
Series
Lecture Notes in Artificial Intelligence, ISSN 0302-9743 ; 9324
Keyword [en]
Robot planning, Hierarchical task networks, Cognitive robotics
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-47771DOI: 10.1007/978-3-319-24489-1_28ISI: 000367594800031Scopus ID: 2-s2.0-84951871030ISBN: 978-3-319-24489-1 (print)ISBN: 978-3-319-24488-4 (print)OAI: oai:DiVA.org:oru-47771DiVA: diva2:898042
Conference
38th German Conference on Artificial Intelligence (AI), Dresden, Germany, September 21-25, 2015
Available from: 2016-01-27 Created: 2016-01-26 Last updated: 2017-10-17Bibliographically approved

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CiteExportLink to record
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Citation style
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