Embedded Planning

Philippe Morignot

I present a planner that generates nonlinear plans in real-time to control an autonomous agent. Requirements of plan generation in an embedded system are obtained by extending the action representation of Chapman and McAilester and Rosenblitt regarding locations, arithmetic equations and variable’s domain. The implementation of this planner exhibits attractive real-time performances. This planner is used to generate plans on the fly for a mobile robot performing various tasks to assist in office work.

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