Task planning is the problem of finding a discrete sequence of actions to achieve a goal. Unfortunately, task planning in robotic domains is computationally challenging. To address this, in our prior work, we explained how knowledge from a successful task solution can be cached for later use, as an “abstract skill.” Such a skill is represented as a trace of states (“road map”) in an abstract space and can be matched with new tasks on-demand. This paper explains how one can use a library of abstract skills, derived from past planning experience, to reduce the computational cost of solving new task planning problems. As we explain, matching a skill to a task allows us to decompose it into independent sub-tasks, which can be quickly solved in parallel. This can be done automatically and dynamically during planning. We begin by formulating this problem of “planning with skills” as a constraint satisfaction problem. We then provide a hierarchical solution algorithm, which integrates with any standard task planner. Finally, we experimentally demonstrate the computational benefits of the approach for reach-avoid tasks.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Efficient Task Planning Using Abstract Skills and Dynamic Road Map Matching


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Billard, Aude (Herausgeber:in) / Asfour, Tamim (Herausgeber:in) / Khatib, Oussama (Herausgeber:in) / Elimelech, Khen (Autor:in) / Kavraki, Lydia E. (Autor:in) / Vardi, Moshe Y. (Autor:in)

    Kongress:

    The International Symposium of Robotics Research ; 2022 ; Geneva, Switzerland September 25, 2022 - September 30, 2022


    Erschienen in:

    Robotics Research ; Kapitel : 33 ; 487-503


    Erscheinungsdatum :

    2023-03-08


    Format / Umfang :

    17 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Automatic Cross-domain Task Plan Transfer by Caching Abstract Skills

    Elimelech, Khen / Kavraki, Lydia E. / Vardi, Moshe Y. | Springer Verlag | 2022


    Matching of Digital Road Networks suited for Navigation and Transport Planning

    Nokel, K. / ITS Congress Association | British Library Conference Proceedings | 2000



    Decentralized dynamic task planning for heterogeneous robotic networks

    Paola, D. | British Library Online Contents | 2015


    Road Selection Using Multicriteria Fusion for the Road-Matching Problem

    Maan El Badaoui El Najjar, / Bonnifait, P. | IEEE | 2007