Tying Together Low-Level and High-level Planners with Cellular Decompositions

点击翻译按钮获取中文摘要

Title:Tying Low-level and High-level Planners together with Cellular DecompositionsAbstract:One of the grand challenges in planning is tying together high-levelglobal planners with low-level local planners, often called behaviorsor control laws. Global planners provide provable guarantees but areoften too abstract to respect the details and dynamics afforded bylocal planners, which in turn lack provable guarantees. The proposedwork aims to get the best of both worlds: inhereting the provablecompleteness of global planners while respecting the local details anddynamics with local planners. The real challenge is: how does one tietogether the high-level and low-level aspects of a planner. Theproposed work takes a topological approach towards addressing thisproblem, addressing three focused problems -- planning in narrowcorridors with probabilistic methods, defining hybrid control laws fornavigating and mapping tasks, and sensor-based exploration of highlyarticulated bodies. The broad impact of this work lie in path planningfor non-Euclidean configuration spaces and developing control laws forthose spaces, as well as further develop a LEGO robotics lab module.