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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.

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Metadaten
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