IEEE - Institute of Electrical and Electronics Engineers, Inc. - Foresight and reconsideration in hierarchical planning and execution

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Martin Levihn ; Leslie Pack Kaelbling ; Tomas Lozano-Perez ; Mike Stilman
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 224 - 231
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696357
Regular:

We present a hierarchical planning and execution architecture that maintains the computational efficiency of hierarchical decomposition while improving optimality. It provides mechanisms for... View More

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