Using Plan Libraries for Improved Plan Execution

Ionut Moraru, Gerard Canal, Simon Parsons

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review

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The difficulty of task planning for robotic agents arises from the stochastic nature of their environment and the high cost of a failure during execution meaning frequent replanning is required. One way to address this problem is to make use of a pre-defined plan library. In this paper, we present work that combines a plan library with task planning. Initial results show that such an approach alleviates the computational burden of synthesising plans, while providing the same level of autonomy as using a planner that starts from scratch.
Original languageEnglish
Title of host publicationUKRAS21 Conference: “Robotics at home” Proceedings
Publication statusPublished - 2021


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