Domain Optimization for Hierarchical Planning based on Set-Theory

Bernd Kast, Vincent Dietrich, Sebastian Albrecht, Wendelin Feiten, Jianwei Zhang

2020

Abstract

The design of planning domains for autonomous systems is a hard task, especially when different parties are involved. We present a domain optimization algorithm for hierarchical planners that uses a set-based formulation. Due to an automatic alignment we can compose models from different sources to a larger domain for efficient planning. The combination of domain optimization and hierarchical planning can handle large scale domains very efficiently. Our algorithm reduces the effects of the non-optimality that comes with the hierarchical approach. We demonstrate the scalability with a task and motion planning problem. In the scenario of a robotic assembly with up to 62 parts and plan lengths of over 1000 steps the planning times are kept within 15 minutes. We show the execution of our plans on a real-world dual-robot setup.

Paper Citation

in Harvard Style

Kast B., Dietrich V., Albrecht S., Feiten W. and Zhang J. (2020). Domain Optimization for Hierarchical Planning based on Set-Theory.In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-442-8, pages 759-766. DOI: 10.5220/0009823007590766

in Bibtex Style

@conference{icinco20,
author={Bernd Kast and Vincent Dietrich and Sebastian Albrecht and Wendelin Feiten and Jianwei Zhang},
title={Domain Optimization for Hierarchical Planning based on Set-Theory},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2020},
pages={759-766},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009823007590766},
isbn={978-989-758-442-8},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Domain Optimization for Hierarchical Planning based on Set-Theory
SN - 978-989-758-442-8
AU - Kast B.
AU - Dietrich V.
AU - Albrecht S.
AU - Feiten W.
AU - Zhang J.
PY - 2020
SP - 759
EP - 766
DO - 10.5220/0009823007590766