Authors:
Hisashi Hayashi
and
Hideki Ogawa
Affiliation:
Toshiba Corporation, Japan
Keyword(s):
Speculative Action Preparation, Replanning, Manipulation, Robotics.
Related
Ontology
Subjects/Areas/Topics:
Agents
;
Artificial Intelligence
;
Formal Methods
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Planning and Scheduling
;
Robot and Multi-Robot Systems
;
Simulation and Modeling
;
Symbolic Systems
;
Task Planning and Execution
Abstract:
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.