OATAO - Open Archive Toulouse Archive Ouverte Open Access Week

Online Proactive Planning with Multiple Hypotheses

T'Hooft, Jorrit and Lesire, Charles and Ponzoni Carvalho Chanel, Caroline Online Proactive Planning with Multiple Hypotheses. (2016) In: 8th European Starting AI Researcher Symposium (STAIRS), 26 August 2016 - 2 September 2016 (The Hague, Holland, Netherlands).

[img]
Preview
(Document in English)

PDF (Author's version) - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
409kB

Official URL: http://dx.doi.org/10.3233/978-1-61499-682-8-123

Abstract

In order to enhance the behavior of autonomous service robots, we are exploring multiple paradigms for their planning and execution strategy (the way of interleaving the planning, selection and execution of actions). In this paper we focus on continuous proactive planning with multiple hypotheses in order to continuously generate multiple solution-plans from which an action can be selected when appropriate. To illustrate the concepts, we develop how it could be used for autonomous navigation in dynamic environments, and analyze the tests we realized with several instantiations. We also discuss several aspects and concerns about the proposed strategy, and how integrating more semantic information could enhance the capabilities of service robots for real-world applications.

Item Type:Conference or Workshop Item (Paper)
Additional Information:This book is published online with Open Access and distributed under the terms of the Creative Commons Attribution Non-Commercial License 4.0 (CC BY-NC 4.0). ISBN 978-1-61499-681-1 (print) ISBN 978-1-61499-682-8 (online)
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
Laboratory name:
Statistics:download
Deposited By: Caroline Ponzoni Carvalho Chanel
Deposited On:10 Jan 2017 14:38

Repository Staff Only: item control page