Automated Planning for Robotics

Erez Karpas; Daniele Magazzeni

doi:10.1146/annurev-control-082619-100135

Automated Planning for Robotics

Erez Karpas, Daniele Magazzeni

Research output: Contribution to journal › Review article › peer-review

51 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	417-439
Number of pages	23
Journal	Annual Review of Control, Robotics, and Autonomous Systems
Volume	3
DOIs	https://doi.org/10.1146/annurev-control-082619-100135
Publication status	Published - 3 May 2020

Keywords

Ai planning
Artificial intelligence
Automated planning
Robotics

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10.1146/annurev-control-082619-100135

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abstract = "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.",

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AB - 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.

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Automated Planning for Robotics

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