Proceedings of the 1 st Workshop on Planning in Continuous Domains PCD 2013
نویسندگان
چکیده
This paper gives an overview of a new risk-sensitive, continuous plan executive called p-Sulu, as well as its full-horizon variant, the p-Sulu Planner. p-Sulu and the p-Sulu Planner provide two capabilities: 1) goaldirected planning in a continuous domain and 2) risksensitive planning that respects a user-specified upper bound on the probability of constraint violations. They both take as an input a new plan representation called a chance-constrained qualitative state plan (CCQSP), through which users specify the desired evolution of the plant state as well as the acceptable level of risk. Given a CCQSP, p-Sulu performs a real-time plan execution over a relatively short, receding planning horizon, while the p-Sulu Planner generates a sequence of actions over the entire duration of the plan in one shot, with paying more attention to optimality. We also present a distributed extension of p-Sulu, called dp-Sulu. We have deployed p-Sulu, dp-Sulu, and the p-Sulu Planner on various systems, including aerial vehicles, space vehicles, as well as buildings, and demonstrated their capabilities by simulations and experiments.
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