Foresight and Reconsideration in Hierarchical Planning and ExecutionReport as inadecuate


Foresight and Reconsideration in Hierarchical Planning and Execution


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We present a hierarchical planning and executionarchitecture that maintains the computational efficiency of hierar-chical decomposition while improving optimality. It provides mech-anisms for monitoring the belief state during execution and per-forming selective replanning to repair poor choices and take advan-tage of new opportunities. It also provides mechanisms for lookingahead into future plans to avoid making short-sighted choices. Theeffectiveness of this architecture is shown through comparativeexperiments in simulation and demonstrated on a real PR2 robot.



Humanoid Robotics Laboratory - Humanoid Robotics Laboratory Publications -



Author: Levihn, Martin - Kaelbling, Leslie Pack - Lozano-Pérez, Tomás - Stilman, Mike - -

Source: https://smartech.gatech.edu/



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