Automated Planning for Robotics
Automated Planning for Robotics
复制标题
机器人自动化规划
DOI：
--
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
D. Magazzeni
中科院分区：
文献类型：
--
作者：
E. Karpas;D. Magazzeni
现代机器人越来越能够执行“基本”活动，如定位，导航和运动规划。然而，对于一个被认为是智能的机器人，我们希望它能够自动联合收割机这些能力，以实现一个高层次的目标。自动规划（有时称为人工智能规划）领域涉及自动合成计划，这些计划将联合收割机的基本操作组合起来，以实现高级目标。在本文中，我们将重点关注自动规划和机器人技术的交叉点，并讨论在控制机器人时采用自动规划的一些挑战和可用工具。我们回顾不同类型的规划形式主义，并讨论其优点和局限性，特别是在规划机器人的行动。最后，我们总结了一个简短的指南，旨在帮助机器人专家选择正确的规划模型，赋予机器人规划能力。
Modern robots are increasingly capable of performing “basic” activities such as localization, navigation, and motion planning. However, for a robot to be considered intelligent, we would like it to be able to automatically combine these capabilities in order to achieve a high-level goal. The field of automated planning (sometimes called AI planning) deals with automatically synthesizing plans that combine basic actions to achieve a high-level goal. In this article, we focus on the intersection of automated planning and robotics and discuss some of the challenges and tools available to employ automated planning in controlling robots. We review different types of planning formalisms and discuss their advantages and limitations, especially in the context of planning robot actions. We conclude with a brief guide aimed at helping roboticists choose the right planning model to endow a robot with planning capabilities.