Code: 06958079
This book investigates the problem of competently§accomplishing everyday manipulation activities for§autonomous robots as a plan-based control problem. We§propose TRANER (TRAnsformational PlanNER) as a plan§transformation system f ... more
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This book investigates the problem of competently§accomplishing everyday manipulation activities for§autonomous robots as a plan-based control problem. We§propose TRANER (TRAnsformational PlanNER) as a plan§transformation system for the optimization of§everyday activities. TRANER advances the§state-of-the-art in three important ways. First, it§extends concurrent reactive plan representation to§support the specification of robust and transformable§plans. Second, it proposes a library of general and§flexible plans for a household robot. Third, it§provides a suite of general transformation rules that§are capable of improving the course of activities in§important and novel ways. Comprehensive and extensive§experiments in a realistic simulation environment§show that transformational planning enables robots to§substantially improve their performance by tailoring§their course of activity to their tasks,§environments, and capabilities.
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