• myGriffith
    • Staff portal
    • Contact Us⌄
      • Future student enquiries 1800 677 728
      • Current student enquiries 1800 154 055
      • International enquiries +61 7 3735 6425
      • General enquiries 07 3735 7111
      • Online enquiries
      • Staff phonebook
    View Item 
    •   Home
    • Griffith Research Online
    • Conference outputs
    • View Item
    • Home
    • Griffith Research Online
    • Conference outputs
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Browse

  • All of Griffith Research Online
    • Communities & Collections
    • Authors
    • By Issue Date
    • Titles
  • This Collection
    • Authors
    • By Issue Date
    • Titles
  • Statistics

  • Most Popular Items
  • Statistics by Country
  • Most Popular Authors
  • Support

  • Contact us
  • FAQs
  • Admin login

  • Login
  • A Switching Planner for Combined Task and Observation Planning

    Author(s)
    G¨obelbecker, Moritz
    Gretton, Charles
    Griffith University Author(s)
    Gretton, Charles
    Year published
    2011
    Metadata
    Show full item record
    Abstract
    From an automated planning perspective the problem of practical mobile robot control in realistic environments poses many important and contrary challenges. On the one hand, the planning process must be lightweight, robust, and timely. Over the lifetime of the robot it must always respond quickly with new plans that accommodate exogenous events, changing objectives, and the underlying unpredictability of the environment. On the other hand, in order to promote efficient behaviours the planning process must perform computationally expensive reasoning about contingencies and possible revisions of subjective beliefs ...
    View more >
    From an automated planning perspective the problem of practical mobile robot control in realistic environments poses many important and contrary challenges. On the one hand, the planning process must be lightweight, robust, and timely. Over the lifetime of the robot it must always respond quickly with new plans that accommodate exogenous events, changing objectives, and the underlying unpredictability of the environment. On the other hand, in order to promote efficient behaviours the planning process must perform computationally expensive reasoning about contingencies and possible revisions of subjective beliefs according to quantitatively modelled uncertainty in acting and sensing. Towards addressing these challenges, we develop a continual planning approach that switches between using a fast satisficing "classical" planner, to decide on the overall strategy, and decision-theoretic planning to solve small abstract subproblems where deeper consideration of the sensing model is both practical, and can significantly impact overall performance. We evaluate our approach in large problems from a realistic robot exploration domain.
    View less >
    Conference Title
    Twenty-Fifth AAAI Conference on Artificial Intelligence Proceedings
    Publisher URI
    http://www.aaai.org/ocs/index.php/AAAI/AAAI11/paper/view/3708
    Subject
    Artificial Intelligence and Image Processing not elsewhere classified
    Publication URI
    http://hdl.handle.net/10072/47181
    Collection
    • Conference outputs

    Footer

    Disclaimer

    • Privacy policy
    • Copyright matters
    • CRICOS Provider - 00233E
    • TEQSA: PRV12076

    Tagline

    • Gold Coast
    • Logan
    • Brisbane - Queensland, Australia
    First Peoples of Australia
    • Aboriginal
    • Torres Strait Islander