Online task merging with a hierarchical hybrid task planner for mobile service robots

Sebastian Stock, Masoumeh Mansouri, Federico Pecora, Joachim Hertzberg

Research output: Chapter in Book/Report/Conference proceedingConference contribution

18 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages6459-6464
ISBN (Print)9781479999941
DOIs
Publication statusPublished - 11 Dec 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: 28 Sep 20152 Oct 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2015-December
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/TerritoryGermany
CityHamburg
Period28/09/152/10/15

Keywords

  • Aerospace electronics
  • Cognition
  • Merging
  • Planning
  • Robot control
  • Robot sensing systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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