Foresight and reconsideration in hierarchical planning and execution

Foresight and reconsideration in hierarchical planning and execution

We present a hierarchical planning and execution architecture that maintains the computational efficiency of hierarchical decomposition while improving optimality. It provides mechanisms for monitoring the belief state during execution and performing selective replanning to repair poor choices and t...

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Bibliographic Details
Main Authors: Levihn, Martin, Stilman, Mike, Kaelbling, Leslie P., Lozano-Perez, Tomas
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:en_US
Published: Institute of Electrical and Electronics Engineers (IEEE) 2014
Online Access:http://hdl.handle.net/1721.1/90271
https://orcid.org/0000-0002-8657-2450
https://orcid.org/0000-0001-6054-7145

Internet

http://hdl.handle.net/1721.1/90271
https://orcid.org/0000-0002-8657-2450
https://orcid.org/0000-0001-6054-7145

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