Title:
Foresight and Reconsideration in Hierarchical Planning and Execution
Foresight and Reconsideration in Hierarchical Planning and Execution
Author(s)
Levihn, Martin
Kaelbling, Leslie Pack
Lozano-Pérez, Tomás
Stilman, Mike
Kaelbling, Leslie Pack
Lozano-Pérez, Tomás
Stilman, Mike
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Abstract
We present a hierarchical planning and execution
architecture 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 looking
ahead into future plans to avoid making short-sighted choices. The
effectiveness of this architecture is shown through comparative
experiments in simulation and demonstrated on a real PR2 robot.
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Date Issued
2013-11
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Text
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Proceedings