Interleaving Planning and Execution for Autonomous Robots

1 Introduction.- 1.1 Motivation.- 1.2 Contributions.- 1.3 Contents of Chapters.- 2 Perception and Action.- 2.1 The Situated Robot and its Environment.- 2.2 Defining State and State Update.- 2.3 Comparison to other Conventional Approaches.- 2.4 Conclusion.- 3 Formalizing Incomplete Information.- 3.1 Sources of Incomplete Information.- 3.2 Representing Incomplete Information.- 3.3 State-Set Tracking: Execution Monitoring.- 3.4 Related Work.- 4 Goal-Directed Control Systems.- 4.1 Defining a Problem Instance.- 4.2 Advance Planning Control Systems.- 4.3 Related Work.- 5 Interleaving Planning and Execution.- 5.1 Introduction: Interleaving.- 5.2 Premature Search Termination.- 5.3 Experimental Results.- 5.4 Related Work.- 6 Using Assumptions to Oversimplify.- 6.1 Introduction.- 6.2 Assumptions.- 6.3 Assumptive Control Systems.- 6.4 Continuous Selection Algorithm.- 6.5 The Cost of Assumptions.- 6.6 Large-scale Real-World Experimental Results.- 6.7 Related Work.- 6.8 Conclusion.- 7 Strategic Subgoaling: Using Abstraction Systems.- 7.1 Introduction.- 7.2 Problem Spaces.- 7.3 Abstraction.- 7.4 Examples of Abstraction Systems and their Cost.- 7.5 Related Work and Discussion.- 8 Generalizing beyond State Sets>.- 8.1 Introduction.- 8.2 Representation Examples.- 8.3 Conclusion.- 9 Conclusions.

Illah Reza Nourbakhsh is Professor of Robotics at Carnegie Mellon University, where he also directs the Community Robotics, Education, and Technology Empowerment (CREATE) Lab. He is a coauthor of Introduction to Autonomous Mobile Robots (MIT Press).