Using Plan Libraries for Improved Plan Execution
Title: Using Plan Libraries for Improved Plan Execution
Authors: Ionut Moraru (Dept. of Informatics King’s College London); Gerard Canal (Dept. of Informatics King’s College London London,); Simon Parsons (Lincoln Centre for Autonomous Systems University of Lincoln);
Year: 2021
Citation: Moraru, I., Canal, G., Parsons, S., (2021). Using Plan Libraries for Improved Plan Execution. UKRAS21 Conference: “Robotics at home” Proceedings, 51-52. doi: 10.31256/Ts2Po9M
Abstract:
The difficulty of task planning for robotic agents
arises from the stochastic nature of their environment and
the high cost of a failure during execution meaning frequent
replanning is required. One way to address this problem is to
make use of a pre-defined plan library. In this paper, we present
work that combines a plan library with task planning. Initial
results show that such an approach alleviates the computational
burden of synthesising plans, while providing the same level of
autonomy as using a planner that starts from scratch.