Journal
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
Volume 17, Issue 6, Pages 3950-3961Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TII.2020.3012094
Keywords
Planning; Legged locomotion; Probabilistic logic; Optimization; Stochastic processes; Informatics; Activity planning; assistive robots; chance constrained optimization (Opt); integer programming; motion planning
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This article presents a framework for planning activities with a robotic navigation assistant, focusing on activity and motion planners. The activity planner composes abstract activities and probabilistic parameters to synthesize a plan, while the motion planner ensures physical feasibility and compatibility with user and environment constraints. The final plan aims to respect user constraints and optimize satisfaction.
In this article, we present a framework for planning an activity to be executed with the support of a robotic navigation assistant. The two main components are the activity and the motion planner. The activity planner composes a sequence of abstract activities, chosen from a given set, to synthesize a plan. Each activity is associated with a point of interest in the environment and with probabilistic parameters that depend on the plan, which are characterized by simulations in realistic scenarios. The low-level action to pass from an activity to the next is handled by the motion planner, which secures the physical feasibility of the chosen actions and their compatibility with the constraints posed by the user and the environment. Indeed, the final plan must respect the user constraints and optimise his/her satisfaction from the activity. We show a possible model for the problem as a chance constrained optimization along with an efficient technique to find high-quality solutions.
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