An On-Line Planner for MARIE

  title={An On-Line Planner for MARIE},
  author={Frank Terpstra and Arnoud Visser and Bob O Hertzberger},
In this paper we introduce an on-line planner implemented on MARIE, a real autonomous robot. Planning occurs at a high level, the planner controls other modules such as the path planner, which contain planners themselves. Plans are represented in a tree structure. The on-line planner has a library of partial trees to choose from when replanning is needed… CONTINUE READING