OATAO - Open Archive Toulouse Archive Ouverte Open Access Week

Proactive Planning and Execution Strategies with Multiple Hypotheses

T'Hooft, Jorrit and Lesire, Charles and Ponzoni Carvalho Chanel, Caroline Proactive Planning and Execution Strategies with Multiple Hypotheses. (2016) In: 11th National Conference on “Software and Hardware Architectures for Robots Control” & Quatrièmes Journées Architectures Logicielles pour la Robotique Autonome, les Systèmes Cyber-Physiques et les Systèmes Auto-Adaptables (SHARC 2016), 30 June 2016 - 1 July 2016 (Brest, France).

(Document in English)

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

Official URL: http://lab-sticc.univ-brest.fr/~goulven/sharc2016/presentations-and-papers/index.html


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 potentially be selected when required. To illustrate the concepts, we develop how it can be used for autonomous navigation in dynamic environments. For this purpose we present 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)
HAL Id:hal-01431189
Audience (conference):National 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:
Deposited On:10 Jan 2017 14:14

Repository Staff Only: item control page