A Decomposed Symbolic Approach to Reactive Planning

  title={A Decomposed Symbolic Approach to Reactive Planning},
  author={Seung Hwa Chung},
Autonomous systems in uncertain dynamic environments must reconfigure themselves in response to unanticipated events and goals in real-time. We present an approach to reactive configuration planning based on the principle of decomposition. Reactive plans are susceptible to exponential state space explosion. We address this problem through transition-based decomposition by generating compact decomposed goal-directed plans. We further minimize state explosion by adopting a symbolic representation… CONTINUE READING


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