Learning to optimize mobile robot navigation based on HTN plans

  title={Learning to optimize mobile robot navigation based on HTN plans},
  author={Thorsten Belker and Martin Hammel and Joachim Hertzberg},
High-level symbolic representations of actions to control the working of autonomous robots are used in all hybrid (reactive and deliberative) robot control architectures. Abstract action representations serve several purposes, such as structuring the control code, optimizing the robot performance, and providing a basis for reasoning about future robot action. The paper presents results about re-designing the R HINO navigation system by introducing an HTN plan layer. Besides yielding a more… CONTINUE READING
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