Scheduling parallel execution of planning and action for a mobile robot considering planning cost and vision uncertainty

This paper proposes a novel method of scheduling parallel execution of planning and action for a visionmotion planning problem. A planning process can be viewed as a process of gradually reducing the plan candidates towards the final commitment to one plan. Using criteria on deciding if an action sequence is consistent with the remaining plan candidates (consistency criterion), and on when to commit to the final plan (commitment criterion), an appropriate action sequence is selected and executed while the planning process is still continuing. Preliminary experimental results including the comparison with a sequential meth.od show that the proposed method is promising.