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A REPLANNING ALGORITHM FOR DECISION THEORETIC HIERARCHICAL PLANNING: PRINCIPLES AND EMPIRICAL EVALUATION

Guido Boella, Rossana Damiano
<span title="2008-10-24">2008</span> <i title="Informa UK Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/pcyo5wihbzcwxb7m76lyrd4tvu" style="color: black;">Applied Artificial Intelligence</a> </i> &nbsp;
In this paper, we present a replanning algorithm for a decision-theoretic hierarchical planner, illustrate the experimental methodology we designed to investigate its performance, and provide an evaluation  ...  The empirical evaluation shows the superiority of replanning with respect from planning from scratch.  ...  Monica Bucciarelli (Dipartimento di Psicologia, Università di Torino) for her insights into the experimental setting and her advice on use of statistical techniques.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1080/08839510802379584">doi:10.1080/08839510802379584</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/q4a7j4apkbfn5nhf2ez6232ybu">fatcat:q4a7j4apkbfn5nhf2ez6232ybu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170830071052/http://www.di.unito.it/~guido/articoli/10-aai08.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b0/fa/b0fab611b2255dd84c57a9153cf036c4c68bf83d.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1080/08839510802379584"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> tandfonline.com </button> </a>

INTEGRATING PLANNING, EXECUTION, AND LEARNING TO IMPROVE PLAN EXECUTION

Sergio Jiménez, Fernando Fernández, Daniel Borrajo
<span title="2012-07-04">2012</span> <i title="Wiley"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/gm6q54qw4jf5nj2lkrr2jruol4" style="color: black;">Computational intelligence</a> </i> &nbsp;
As a consequence, when implementing agents with planning capabilities, practitioners frequently opt for architectures that interleave classical planning and execution monitoring following a replanning  ...  Algorithms for planning under uncertainty require accurate action models that explicitly capture the uncertainty of the environment. Unfortunately, obtaining these models is usually complex.  ...  The common way to fin these decision trees is following a Top-Down Induction of Decision Trees (TDIDT) algorithm (Quinlan 1986 ).  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1111/j.1467-8640.2012.00447.x">doi:10.1111/j.1467-8640.2012.00447.x</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/l6scnc6hgbegzk2zkxnk6jz2oa">fatcat:l6scnc6hgbegzk2zkxnk6jz2oa</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20171118231920/https://core.ac.uk/download/pdf/30276797.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/89/e9/89e9133a8ab188c393f6601dc95c92253a0e6c7c.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1111/j.1467-8640.2012.00447.x"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Intelligent planning: A decomposition and abstraction based approach to classical planning

Fausto Giunchiglia, Luca Spalazzi
<span title="">1999</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/weoplee4x5anpi62cco5v4higa" style="color: black;">Artificial Intelligence</a> </i> &nbsp;
2 In various parts Yang hints at the relation between classical planning and the other approaches (see, for example, pp. 95 and 112). 0004-3702/99/$ -see front matter © 1999 Elsevier Science B.V.  ...  Empirical evaluations are useful, especially for problems which are untractable from a theoretical point of view.  ...  Anybody approaching planning for the first time needs a theoretical perspective for a proper evaluation of the most important planning algorithms.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/s0004-3702(99)00042-9">doi:10.1016/s0004-3702(99)00042-9</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/k7b64xilyjf4pgotsg5zhmy6hy">fatcat:k7b64xilyjf4pgotsg5zhmy6hy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170808210119/http://home.cse.ust.hk/~qyang/sdarticle.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/2f/f5/2ff546c8f5261565fe7753d42be91a9c3d037cb0.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/s0004-3702(99)00042-9"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> elsevier.com </button> </a>

Symbolic Top-k Planning

David Speck, Robert Mattmüller, Bernhard Nebel
<span title="2020-04-03">2020</span> <i title="Association for the Advancement of Artificial Intelligence (AAAI)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/wtjcymhabjantmdtuptkk62mlq" style="color: black;">PROCEEDINGS OF THE THIRTIETH AAAI CONFERENCE ON ARTIFICIAL INTELLIGENCE AND THE TWENTY-EIGHTH INNOVATIVE APPLICATIONS OF ARTIFICIAL INTELLIGENCE CONFERENCE</a> </i> &nbsp;
The objective of top-k planning is to determine a set of k different plans with lowest cost for a given planning task.  ...  This does not hold for polynomially bounded plans for which the decision problem turns out to be PP-hard, while the ordinary case is NP-hard.  ...  Empirical Evaluation The presented symbolic top-k algorithm SYM-K 1 is implemented in the SYMBA (Torralba et al. 2014 ) planner, which is built on top of the FAST DOWNWARD planning system (Helmert 2006  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1609/aaai.v34i06.6552">doi:10.1609/aaai.v34i06.6552</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/w6k5u4zlbbay7os7bc7om3vrte">fatcat:w6k5u4zlbbay7os7bc7om3vrte</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20201103175712/https://aaai.org/ojs/index.php/AAAI/article/download/6552/6408" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/50/4c/504c1f5fa7775509fb2cbdc05f9a702c94fdbade.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1609/aaai.v34i06.6552"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Probabilistic Planning with Reduced Models

Luis Pineda, Shlomo Zilberstein
<span title="2019-07-09">2019</span> <i title="AI Access Foundation"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/4ax4efcwajcgvidb6hcg6mwx4a" style="color: black;">The Journal of Artificial Intelligence Research</a> </i> &nbsp;
The results place previous work on determinization in a broader context and lay the foundation for a systematic exploration of the space of model reductions.  ...  We present a framework to determine the benefits of planning with reduced models, and develop a continual planning approach that handles situations where the number of exceptions exceeds the specified  ...  Acknowledgments We thank Kyle Wray and Sandhya Saisubramanian for their helpful feedback and suggestions on earlier versions of this work.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1613/jair.1.11569">doi:10.1613/jair.1.11569</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/ththwrgymnb5bncdka3yr2txs4">fatcat:ththwrgymnb5bncdka3yr2txs4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200212073014/https://jair.org/index.php/jair/article/download/11569/26500" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/27/c9/27c9f43a46b52e89866cbde1f3e4f68a948d091b.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1613/jair.1.11569"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Planning with Noisy Probabilistic Relational Rules

T. Lang, M. Toussaint
<span title="2010-09-20">2010</span> <i title="AI Access Foundation"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/4ax4efcwajcgvidb6hcg6mwx4a" style="color: black;">The Journal of Artificial Intelligence Research</a> </i> &nbsp;
Our algorithms exploit the compactness of rules for efficient and flexible decision-theoretic planning.  ...  We evaluate the effectiveness of our approaches for planning in a simulated complex 3D robot manipulation scenario with an articulated manipulator and realistic physics and in domains of the probabilistic  ...  We thank Sungwook Yoon for providing us an implementation of FF-Replan. We thank Olivier Buffet for answering our questions on the probabilistic planning competition 2008.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1613/jair.3093">doi:10.1613/jair.3093</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/jwvbhr7dabcqzcnsnmw2cc6anm">fatcat:jwvbhr7dabcqzcnsnmw2cc6anm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170810234057/http://www.jair.org/media/3093/live-3093-5172-jair.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/5d/ff/5dff540cd7b8e9b7104ae80d0d60f80fd227afb7.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1613/jair.3093"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Reasoning About Plan Robustness Versus Plan Cost for Partially Informed Agents

Sarah Keren, Sara Bernardini, Kofi Kwapong, David C. Parkes
<span title="">2020</span> <i title="International Joint Conferences on Artificial Intelligence Organization"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/rvkvdehfubaondjmd5y6i6rewe" style="color: black;">Proceedings of the Seventeenth International Conference on Principles of Knowledge Representation and Reasoning</a> </i> &nbsp;
A common approach to planning with partial information is replanning: compute a plan based on assumptions about unknown information and replan if these assumptions are refuted during execution.  ...  By evaluating our approach on a set of standard benchmarks, we demonstrate how it can improve the performance of a partially informed agent.  ...  Grosz, Hector Palacios, Sarath Sreedharan, Guy Shani, Blai Bonet and Hector Geffner for their helpful comments and suggestions.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.24963/kr.2020/55">doi:10.24963/kr.2020/55</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/kr/KerenBKP20.html">dblp:conf/kr/KerenBKP20</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/n2qh7nkrqvdwbkxfffw7qfr5iq">fatcat:n2qh7nkrqvdwbkxfffw7qfr5iq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20201209191241/https://proceedings.kr.org/2020/55/kr2020-0055-keren-et-al.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/0d/00/0d0095e629b11e8f9f87b0f89caf1d9d6a005aaa.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.24963/kr.2020/55"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Robust Plan Execution with Unexpected Observations [article]

Oscar Lima, Michael Cashmore, Daniele Magazzeni, Andrea Micheli, Rodrigo Ventura
<span title="2020-03-20">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We propose a plan execution algorithm that computes online the complete set of valid totally-ordered plans described by an adaptable partially-ordered plan together with the probability of success for  ...  Our approach computes an adaptable, partially-ordered plan from a given totally-ordered plan.  ...  IMPLEMENTATION AND EVALUATION The approach has been implemented in ROS and integrated as an alternative execution algorithm in ROSPlan [1] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2003.09401v1">arXiv:2003.09401v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/tvnq55jndbe7bbokjvbmktxyfe">fatcat:tvnq55jndbe7bbokjvbmktxyfe</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200325023314/https://arxiv.org/pdf/2003.09401v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2003.09401v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Maritime threat detection using plan recognition

Bryan Auslander, Kalyan Moy Gupta, David W. Aha
<span title="">2012</span> <i title="IEEE"> 2012 IEEE Conference on Technologies for Homeland Security (HST) </i> &nbsp;
In particular, we examine hierarchical task network (HTN) and case-based algorithms for plan recognition, which detect anomalies by generating expected behaviors for use as a basis for threat detection  ...  On a set of simulated maritime scenarios, these plan recognition algorithms outperformed the behavior recognition algorithm, except for one reactive behavior task in which the inverse occurred.  ...  for any specified situations and, if matched, triggers a replan.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/ths.2012.6459857">doi:10.1109/ths.2012.6459857</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/eek7e6kho5cdxdg2auiy6owhxy">fatcat:eek7e6kho5cdxdg2auiy6owhxy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170926013424/http://www.dtic.mil/get-tr-doc/pdf?AD=ADA570824" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/c2/06/c206b5b04422e005a330c09ebfc51ad684867436.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/ths.2012.6459857"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Route planning by analogy [chapter]

Karen Zita Haigh, Manuela Veloso
<span title="">1995</span> <i title="Springer Berlin Heidelberg"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/2w3awgokqne6te4nvlofavy5a4" style="color: black;">Lecture Notes in Computer Science</a> </i> &nbsp;
In this paper, we demonstrate our route planning method which retrieves and reuses multiple past routing cases that collectively form a good basis for generating a new routing plan.  ...  We use illustrative examples and show some empirical results from a detailed online map of the city of Pittsburgh containing over 18,000 intersections and 25,000 street segments.  ...  As our empirical results have shown, optimal algorithms seem far too costly for the bene ts gained, while heuristically-based algorithms may get led astray.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/3-540-60598-3_16">doi:10.1007/3-540-60598-3_16</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/brx5bvchnfhe7hwsloekhwbdhi">fatcat:brx5bvchnfhe7hwsloekhwbdhi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20171025150737/https://core.ac.uk/download/pdf/20770998.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/f8/c0/f8c0cc24e9d10983f2b395e5c05c9f0bdd8ab041.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/3-540-60598-3_16"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

Decision-Theoretic Planning

Jim Blythe
<span title="">1999</span> <i title="Association for the Advancement of Artificial Intelligence (AAAI)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/27wksbinzzhjfow2wuy6m2iefm" style="color: black;">The AI Magazine</a> </i> &nbsp;
The recent advances in computer speed and algorithms for probabilistic inference have led to a resurgence of work on planning under uncertainty.  ...  Addressing uncertainty in AI, planning algorithms will greatly increase the range of potential applications, but there is plenty of work to be done before we see practical decision-theoretic planning systems  ...  left for replanning at execution time.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1609/aimag.v20i2.1455">doi:10.1609/aimag.v20i2.1455</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/journals/aim/Blythe99.html">dblp:journals/aim/Blythe99</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/zb2rb6ajj5ewnibo3oq3fj4hdi">fatcat:zb2rb6ajj5ewnibo3oq3fj4hdi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20151019131834/http://www.aaai.org/ojs/index.php/aimagazine/article/download/1455/1354" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/da/1e/da1e72a92b75969af237070c021c946b90dad347.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1609/aimag.v20i2.1455"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Adaptive Time Stepping in Real-Time Motion Planning [chapter]

Kris Hauser
<span title="">2010</span> <i title="Springer Berlin Heidelberg"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/lirc5icuifhy7ln5rynpn4ak2e" style="color: black;">Springer Tracts in Advanced Robotics</a> </i> &nbsp;
Replanning is a powerful mechanism for controlling robot motion under hard constraints and unpredictable disturbances, but it involves an inherent tradeoff between the planner's power (e.g., a planning  ...  For unpredictable environments, we present an adaptive time stepping contingency planning algorithm that achieves simultaneous safety-seeking and goal-seeking motion.  ...  A Contingency Replanning Algorithm In our contingency planning algorithm, the robot maintains both an optimistic and a pessimistic trajectory that share a common prefix (Figure 7) .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-642-17452-0_9">doi:10.1007/978-3-642-17452-0_9</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/5tahaaxi4jgf3cjwlol4ewekfi">fatcat:5tahaaxi4jgf3cjwlol4ewekfi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20101210110832/http://www.cs.indiana.edu/~hauserk/papers/wafr2010-adaptivereplanning.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/d4/0c/d40cc77a337114611c524ed98b55ee30a3ae26e2.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-642-17452-0_9"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

Motion Planning Networks: Bridging the Gap Between Learning-based and Classical Motion Planners [article]

Ahmed H. Qureshi, Yinglong Miao, Anthony Simeonov, Michael C. Yip
<span title="2020-06-27">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
This paper describes Motion Planning Networks (MPNet), a computationally efficient, learning-based neural planner for solving motion planning problems.  ...  significant and consistently stronger performance metrics, and motivating neural planning in general as a modern strategy for solving motion planning problems efficiently.  ...  Replanning is a crucial component of our planning algorithm.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1907.06013v3">arXiv:1907.06013v3</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/a7ynhrxnobcoloo6faf4np5rq4">fatcat:a7ynhrxnobcoloo6faf4np5rq4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200709233435/https://arxiv.org/pdf/1907.06013v3.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/d4/8a/d48ae3108c8cf8970578bb29483a27184ab09e9e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1907.06013v3" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Incorporating decision-theoretic planning in a robot architecture

G.L. Peterson, D.J. Cook
<span title="">2003</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ncwahgzkgbfljbalytxadcov3u" style="color: black;">Robotics and Autonomous Systems</a> </i> &nbsp;
The miniature golf domain shows the application of decision-theoretic planning in an inherently uncertain domain, and demonstrates that by using decision-theoretic planning as the reasoning method in a  ...  The use of a decision-theoretic planner in a robot task architecture is demonstrated on the mobile robot domain of miniature golf.  ...  This demonstrates the feasibility of the single-shot decision theoretic plan with replanning in a robot architecture.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/s0921-8890(02)00326-3">doi:10.1016/s0921-8890(02)00326-3</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/v3xhquvqhnghdkklpomemxp7ha">fatcat:v3xhquvqhnghdkklpomemxp7ha</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170808174824/http://robobrarian.info/b_pubs/raspeterson.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/61/6d/616d71bef5c9c4772721c78b4d9968112f489e11.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/s0921-8890(02)00326-3"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> elsevier.com </button> </a>

Active Policy Learning for Robot Planning and Exploration under Uncertainty

R. Martinez-Cantin, N. de Freitas, A. Doucet, J. Castellanos
<span title="2007-06-27">2007</span> <i title="Robotics: Science and Systems Foundation"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/gjhqqq6dgnaupkvp2ckhefvv6i" style="color: black;">Robotics: Science and Systems III</a> </i> &nbsp;
This paper proposes a simulation-based active policy learning algorithm for finite-horizon, partially-observed sequential decision processes.  ...  In our experiments, a robot uses the proposed algorithm to plan an optimal path for accomplishing a series of tasks, while maximizing the information about its pose and map estimates.  ...  ACKNOWLEDGMENTS We would like to thank Eric Brochu, Nick Roy, Hendrik Kueck and Andrew Ng for valuable discussions.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.15607/rss.2007.iii.041">doi:10.15607/rss.2007.iii.041</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/rss/Martinez-CantinFDC07.html">dblp:conf/rss/Martinez-CantinFDC07</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/cr6kl74zsvctjmi7vi7rfaz42u">fatcat:cr6kl74zsvctjmi7vi7rfaz42u</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170202045351/http://www.cs.ubc.ca/~nando/papers/aplrss.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/8a/92/8a928854a3588c8da20ef8d6144071be15c47000.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.15607/rss.2007.iii.041"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>
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