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Robot Planning in the Real World: Research Challenges and Opportunities

Ron Alterovitz, Sven Koenig, Maxim Likhachev

Abstract


Recent years have seen significant technical progress on robot planning, enabling robots to compute actions and motions to accomplish challenging tasks involving driving, flying, walking, or manipulating objects. However, robots that have been commercially deployed in the real world typically have no or minimal planning capability. These robots are often manually programmed, teleoperated, or programmed to follow simple rules. Although these robots are highly successful in their respective niches, a lack of planning capabilities limits the range of tasks for which currently deployed robots can be used. In this article, we highlight key conclusions from a workshop sponsored by the National Science Foundation in October 2013 that summarize opportunities and key challenges in robot planning and include challenge problems identified in the workshop that can help guide future research towards making robot planning more deployable in the real world.

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