Foresight and reconsideration in hierarchical planning and execution

Foresight and reconsideration in hierarchical planning and execution

We present a hierarchical planning and execution architecture that maintains the computational efficiency of hierarchical decomposition while improving optimality. It provides mechanisms for monitoring the belief state during execution and performing selective replanning to repair poor choices and t...

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Bibliographic Details
Main Authors: Levihn, Martin (Author), Stilman, Mike (Author), Kaelbling, Leslie P. (Contributor), Lozano-Perez, Tomas (Contributor)
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor), Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science (Contributor)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE), 2014-09-22T18:50:46Z.
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