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.

Thesis Goal The goal of this Master Thesis is to first get an overview of existing dynamic robot planning approaches, and how the concept of cliques in graphs can be leveraged to divide the planning problem into smaller sub-problems. Based on this, a planning approach should be developed to create first inter-clique plans for course navigation, and subsequently intra-clique plans for detailed navigation.