Fusing DL Reasoning with HTN Planning as a Deliberative Layer in Mobile Robotics
- Action planning has been used in the field of robotics for solving long-running tasks. In the robot architectures field, it is also known as the deliberative layer. However, there is still a gap between the symbolic representation on the one hand and the low-level control and sensor representation on the other. In addition, the definition of a planning problem for a complex, real-world robot is not trivial. The planning process could become intractable as its search spaces become large.
Document Type: | Doctoral Thesis |
---|---|
Language: | English |
Author: | Ronny Hartanto |
URL: | https://nbn-resolving.org/urn:nbn:de:gbv:700-201003085604 |
Referee: | Joachim Hertzberg, Michael Beetz |
Date of exam: | 2009/11/04 |
Contributing Corporation: | Universität Osnabrück |
Date of first publication: | 2010/03/08 |
Dewey Decimal Classification (DDC): | 0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik |
Entry in this database: | 2015/04/02 |