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Hybrid conditional planning for robotic applications.

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Title: Hybrid conditional planning for robotic applications.
Authors: Nouman, Ahmed1 (AUTHOR) ahmednouman@sabanciuniv.edu, Patoglu, Volkan1 (AUTHOR), Erdem, Esra1 (AUTHOR)
Source: International Journal of Robotics Research. Feb2021, Vol. 40 Issue 2/3, p594-623. 30p.
Subjects: Cognitive robotics, Robotics, Parallel algorithms, Goal (Psychology), Dynamic simulation, Observability (Control theory)
Abstract: Robots who have partial observability of and incomplete knowledge about their environments may have to consider contingencies while planning, and thus necessitate cognitive abilities beyond classical planning. Moreover, during planning, they need to consider continuous feasibility checks for executability of the plans in the real world. Conditional planning is concerned with reaching goals from an initial state, in the presence of incomplete knowledge and partial observability, by considering all contingencies and by utilizing sensing actions to gather relevant knowledge when needed. A conditional plan is essentially a tree of actions where each branch of the tree represents a possible execution of actuation actions and sensing actions to reach a goal state. Hybrid conditional planning extends conditional planning by integrating feasibility checks into executability conditions of actions. We introduce a parallel offline algorithm, called HCP lan, for computing hybrid conditional plans. HCP lan relies on modeling deterministic effects of actuation actions and non-deterministic effects of sensing actions in the causality-based action language C +. Branches of a hybrid conditional plan are computed in parallel using a SAT solver, where continuous feasibility checks are performed as needed. We develop a comprehensive benchmark suite and introduce new evaluation metrics for hybrid conditional planning. We evaluate HCP lan with extensive experiments in terms of computational efficiency and plan quality. We perform experiments to compare HCP lan with other related conditional planners and approaches to deal with contingencies due to incomplete knowledge. We further demonstrate the applicability and usefulness of HCP lan in service robotics applications, through dynamic simulations and physical implementations. [ABSTRACT FROM AUTHOR]
Copyright of International Journal of Robotics Research is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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Header DbId: egs
DbLabel: Engineering Source
An: 150005301
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
PreciseRelevancyScore: 0
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  Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Robotics+Research%22">International Journal of Robotics Research</searchLink>. Feb2021, Vol. 40 Issue 2/3, p594-623. 30p.
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  Data: <searchLink fieldCode="DE" term="%22Cognitive+robotics%22">Cognitive robotics</searchLink><br /><searchLink fieldCode="DE" term="%22Robotics%22">Robotics</searchLink><br /><searchLink fieldCode="DE" term="%22Parallel+algorithms%22">Parallel algorithms</searchLink><br /><searchLink fieldCode="DE" term="%22Goal+%28Psychology%29%22">Goal (Psychology)</searchLink><br /><searchLink fieldCode="DE" term="%22Dynamic+simulation%22">Dynamic simulation</searchLink><br /><searchLink fieldCode="DE" term="%22Observability+%28Control+theory%29%22">Observability (Control theory)</searchLink>
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  Data: Robots who have partial observability of and incomplete knowledge about their environments may have to consider contingencies while planning, and thus necessitate cognitive abilities beyond classical planning. Moreover, during planning, they need to consider continuous feasibility checks for executability of the plans in the real world. Conditional planning is concerned with reaching goals from an initial state, in the presence of incomplete knowledge and partial observability, by considering all contingencies and by utilizing sensing actions to gather relevant knowledge when needed. A conditional plan is essentially a tree of actions where each branch of the tree represents a possible execution of actuation actions and sensing actions to reach a goal state. Hybrid conditional planning extends conditional planning by integrating feasibility checks into executability conditions of actions. We introduce a parallel offline algorithm, called HCP lan, for computing hybrid conditional plans. HCP lan relies on modeling deterministic effects of actuation actions and non-deterministic effects of sensing actions in the causality-based action language C +. Branches of a hybrid conditional plan are computed in parallel using a SAT solver, where continuous feasibility checks are performed as needed. We develop a comprehensive benchmark suite and introduce new evaluation metrics for hybrid conditional planning. We evaluate HCP lan with extensive experiments in terms of computational efficiency and plan quality. We perform experiments to compare HCP lan with other related conditional planners and approaches to deal with contingencies due to incomplete knowledge. We further demonstrate the applicability and usefulness of HCP lan in service robotics applications, through dynamic simulations and physical implementations. [ABSTRACT FROM AUTHOR]
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  Data: <i>Copyright of International Journal of Robotics Research is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
PLink https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=egs&AN=150005301
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        Value: 10.1177/0278364920963783
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        Text: English
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        PageCount: 30
        StartPage: 594
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      – SubjectFull: Cognitive robotics
        Type: general
      – SubjectFull: Robotics
        Type: general
      – SubjectFull: Parallel algorithms
        Type: general
      – SubjectFull: Goal (Psychology)
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      – SubjectFull: Dynamic simulation
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      – SubjectFull: Observability (Control theory)
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      – TitleFull: Hybrid conditional planning for robotic applications.
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            NameFull: Nouman, Ahmed
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            NameFull: Patoglu, Volkan
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            NameFull: Erdem, Esra
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            – D: 01
              M: 02
              Text: Feb2021
              Type: published
              Y: 2021
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