More knowledge on the table: Planning with space, time and resources for robots

@article{Mansouri2014MoreKO,
title={More knowledge on the table: Planning with space, time and resources for robots},
author={Masoumeh Mansouri and Federico Pecora},
journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
year={2014},
pages={647-654}
}

AI-based solutions for robot planning have so far focused on very high-level abstractions of robot capabilities and of the environment in which they operate. However, to be useful in a robotic context, the model provided to an AI planner should afford both symbolic and metric constructs; its expressiveness should not hinder computational efficiency; and it should include causal, spatial, temporal and resource aspects of the domain. We propose a planner grounded on well-founded constraint-based… CONTINUE READING