Action Preparation and Replanning in Manipulation

Hisashi Hayashi, Hideki Ogawa


In order to pick (place) a target object from (on) a shelf, a service robot moves to the front side of the shelf, removes obstacles, and reaches out a hand. If the robot prepares for the next arm manipulation while moving to the shelf, it is possible to save time for plan execution. The robot also needs to replan if, for example, a person removes obstacles for the robot. After replanning, the robot might need to suspend the current action execution or next action preparation before executing the updated plan. This paper introduces a method to integrate planning, action execution, speculative next action preparation, replanning, and action suspension based on Hierarchical Task Network (HTN) planning. We also show that this method is effective for pick-andplace manipulation in dynamic environments.


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Paper Citation

in Harvard Style

Hayashi H. and Ogawa H. (2015). Action Preparation and Replanning in Manipulation . In Proceedings of the International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-758-073-4, pages 109-116. DOI: 10.5220/0005152101090116

in Bibtex Style

author={Hisashi Hayashi and Hideki Ogawa},
title={Action Preparation and Replanning in Manipulation},
booktitle={Proceedings of the International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},

in EndNote Style

JO - Proceedings of the International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - Action Preparation and Replanning in Manipulation
SN - 978-989-758-073-4
AU - Hayashi H.
AU - Ogawa H.
PY - 2015
SP - 109
EP - 116
DO - 10.5220/0005152101090116