Title:
Foresight and Reconsideration in Hierarchical Planning and Execution
Foresight and Reconsideration in Hierarchical Planning and Execution
| dc.contributor.author | Levihn, Martin | |
| dc.contributor.author | Kaelbling, Leslie Pack | |
| dc.contributor.author | Lozano-Pérez, Tomás | |
| dc.contributor.author | Stilman, Mike | |
| dc.contributor.corporatename | Georgia Institute of Technology. Institute for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2013-11-18T15:44:34Z | |
| dc.date.available | 2013-11-18T15:44:34Z | |
| dc.date.issued | 2013-11 | |
| dc.description | © 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
| dc.description | Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), 3-7 November 2013, Tokyo, Japan. | |
| dc.description.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. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.citation | Levihn, M.; Kaelbling, L.; Lozano-Perez, T. & Stilman, M. (2013). "Foresight and Reconsideration in Hierarchical Planning and Execution". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), 3-7 November 2013. | |
| dc.identifier.uri | http://hdl.handle.net/1853/49426 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.subject | AI reasoning methods | en_US |
| dc.subject | Integrated task and motion planning | en_US |
| dc.subject | Mobile manipulation | en_US |
| dc.title | Foresight and Reconsideration in Hierarchical Planning and Execution | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | Humanoid Robotics Laboratory | |
| relation.isOrgUnitOfPublication | 05bf85fb-965e-425d-af8b-dbf56e0d9797 |