TY - GEN
T1 - Online task merging with a hierarchical hybrid task planner for mobile service robots
AU - Stock, Sebastian
AU - Mansouri, Masoumeh
AU - Pecora, Federico
AU - Hertzberg, Joachim
PY - 2015/12/11
Y1 - 2015/12/11
N2 - Plan-based robot control has to consider a multitude of aspects of tasks at once, such as task dependency, time, space, and resource usage. Hybrid planning is a strategy for treating them jointly. However, by incorporating all these aspects into a hybrid planner, its search space is huge by construction. This paper introduces the planner CHIMP, which is based on meta-CSP planning to represent the hybrid plan space and uses hierarchical planning as the strategy for cutting efficiently through this space. The paper makes two contributions: First, it describes how HTN planning is integrated into meta-CSP reasoning leading to a planner that can reason about different forms of knowledge and that is fast enough to be used on a robot. Second, it demonstrates CHIMP's task merging capabilities, i.e., the unification of different tasks from different plan parts, resulting in plans that are more efficient to execute. It also allows to merge new tasks online into a plan that is being executed. This is demonstrated on a PR2 robot.
AB - Plan-based robot control has to consider a multitude of aspects of tasks at once, such as task dependency, time, space, and resource usage. Hybrid planning is a strategy for treating them jointly. However, by incorporating all these aspects into a hybrid planner, its search space is huge by construction. This paper introduces the planner CHIMP, which is based on meta-CSP planning to represent the hybrid plan space and uses hierarchical planning as the strategy for cutting efficiently through this space. The paper makes two contributions: First, it describes how HTN planning is integrated into meta-CSP reasoning leading to a planner that can reason about different forms of knowledge and that is fast enough to be used on a robot. Second, it demonstrates CHIMP's task merging capabilities, i.e., the unification of different tasks from different plan parts, resulting in plans that are more efficient to execute. It also allows to merge new tasks online into a plan that is being executed. This is demonstrated on a PR2 robot.
KW - Aerospace electronics
KW - Cognition
KW - Merging
KW - Planning
KW - Robot control
KW - Robot sensing systems
UR - http://www.scopus.com/inward/record.url?scp=84958157699&partnerID=8YFLogxK
U2 - 10.1109/IROS.2015.7354300
DO - 10.1109/IROS.2015.7354300
M3 - Conference contribution
AN - SCOPUS:84958157699
SN - 9781479999941
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6459
EP - 6464
BT - 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)
PB - Institute of Electrical and Electronics Engineers (IEEE)
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Y2 - 28 September 2015 through 2 October 2015
ER -