Title
Using hybrid planning for plan reparation
Abstract
In this work we propose a plan repair algorithm designed to be used in a real-life setting for a team of autonomous robots. This algorithm is built on top of a hybrid planner. This planner mixes partial order planning and hierarchical planning. This allows the creation of a plan with temporal flexibility while using human knowledge to improve the search process. Simulation shows that repairing increases the number of solved problems or at least reduces the number of plans explored. The algorithm uses the same hierarchical knowledge as the underlying planner, thus needing no more human modelling to properly run. We show that using this knowledge can help the reparation, even when some half-executed abstract actions are present in the plan.
Year
DOI
Venue
2015
10.1109/ECMR.2015.7324201
2015 European Conference on Mobile Robots (ECMR)
Keywords
Field
DocType
hybrid planning,plan reparation,plan repair algorithm,autonomous robots,hierarchical planning,partial order planning,human knowledge,search process,half-executed abstract actions
Synchronization,Partial-order planning,Simulation,Computer science,Planner,Human knowledge,Artificial intelligence,Robot,Cognition,Human Modelling,Maintenance engineering
Conference
Citations 
PageRank 
References 
0
0.34
15
Authors
5
Name
Order
Citations
PageRank
Patrick Bechon120.71
Magali Barbier231.75
Charles Lesire38615.40
Guillaume Infantes41259.92
Vincent Vidal5433.96