EFFICIENT PLANNING OF AUTONOMOUS ROBOTS USING HIERARCHICAL DECOMPOSITION

Matthias Rungger, Olaf Stursberg, Bernd Spanfelner, Christian Leuxner, Wassiou Sitou

Abstract

This paper considers the behavior planning of robots deployed to act autonomously in highly dynamic environments. For such environments and complex tasks, model-based planning requires relatively complex world models to capture all relevant dependencies. The efficient generation of decisions, such that realtime requirements are met, has to be based on suitable means to handle complexity. This paper proposes a hierarchical architecture to vertically decompose the decision space. The layers of the architecture comprise methods for adaptation, action planning, and control, where each method operates on appropriately detailed models of the robot and its environment. The approach is illustrated for the example of robotic motion planning.

References

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Paper Citation


in Harvard Style

Rungger M., Stursberg O., Spanfelner B., Leuxner C. and Sitou W. (2008). EFFICIENT PLANNING OF AUTONOMOUS ROBOTS USING HIERARCHICAL DECOMPOSITION . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8111-31-9, pages 262-267. DOI: 10.5220/0001502202620267


in Bibtex Style

@conference{icinco08,
author={Matthias Rungger and Olaf Stursberg and Bernd Spanfelner and Christian Leuxner and Wassiou Sitou},
title={EFFICIENT PLANNING OF AUTONOMOUS ROBOTS USING HIERARCHICAL DECOMPOSITION},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2008},
pages={262-267},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001502202620267},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - EFFICIENT PLANNING OF AUTONOMOUS ROBOTS USING HIERARCHICAL DECOMPOSITION
SN - 978-989-8111-31-9
AU - Rungger M.
AU - Stursberg O.
AU - Spanfelner B.
AU - Leuxner C.
AU - Sitou W.
PY - 2008
SP - 262
EP - 267
DO - 10.5220/0001502202620267