Deferred Planning and Sensor Use
نویسنده
چکیده
Traditional approaches to task planning assume the planner has access to all of the world information needed to develop a complete, correct plan|a plan which can then be executed in its entirety by a robot. We consider problems where some crucial information is missing at plan time but can be obtained from sensors during execution. We discuss the solution of these problems through deferred planning (i.e., by deferring speciic planning steps until more complete information is available and then restarting the planner). We also present early results of a comparative study of strategies for deciding which plan steps to defer.
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