Interleaving Temporal Planning and Execution : IXTET-EXEC ∗

  title={Interleaving Temporal Planning and Execution : IXTET-EXEC ∗},
  author={Solange Lemai and F{\'e}lix Ingrand},
Execution control of plans is a very active domain of research, but remains a major challenge when performed on board real autonomous mobile robots. In such a context, where execution concurrency, resources contention and environment dynamic characterize the domain, the use of a temporal planner and a temporal executive whose processes are interleaved is desirable. In this paper, we propose a framework to integrate deliberative planning, plan repair and execution control in a dynamic… CONTINUE READING
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