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

标题：将低级别和高级别的规划者与细胞分解捆绑在一起摘要：规划中的重大挑战之一是将高级别的全球规划者与低级别的地方规划者捆绑在一起，通常被称为行为或控制法。全球规划者提供了可证明的保证，但往往过于抽象，不尊重当地规划者提供的细节和动态，这反过来又缺乏可证明的保证。这项拟议的工作旨在两全其美：继承全球规划师可证明的完备性，同时尊重当地规划师的当地细节和动态。真正的挑战是：如何将规划者的高层次和低层次结合起来。提出的工作采用拓扑学的方法来解决这一问题，解决了三个重点问题--用概率方法在狭窄走廊中进行规划，为导航和测绘任务定义混合控制律，以及基于传感器的高铰接体探测。这项工作的广泛影响在于非欧几里德配置空间的路径规划和为这些空间开发控制律，以及进一步开发乐高机器人实验室模块。

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.