Dynamic/Iterative Planning for Robotic Systems
Mission planning is a fundamental problem in mobile robotics. Domain-independent planners and the PDDL language, provide a standard and flexible framework for solving such planning problems.
Mission planning is a fundamental problem in mobile robotics. Domain-independent planners and the PDDL language, provide a standard and flexible framework for solving such planning problems. However, with the increasing size of the planning problem (e.g., a large number of nodes and edges part of a map), creating such a plan can be both resource and time-consuming.
Waypoints and paths a robot can travel, for example in a warehouse, can be represented as a graph with constituent nodes (representing locations) and edges (representing the path). Instead of fully creating a plan upfront, subsets of plans can be generated iteratively, and the robot can re-plan its path as it progresses in its mission.