Over the last decade, use of robots in production and daily life has increased. With increasingly complex tasks interaction different environments including humans, are required a higher level autonomy for efficient deliberation. Task planning is key element It combines elementary operations into structured plan to satisfy prescribed goal, given specifications on robot environment. In this manu...

The main goal in task planning is to build a sequence of actions that takes an agent from initial state state. In robotics, this particularly difficult because usually have several possible results, and sensors are prone produce measurements with error. Partially observable Markov decision processes (POMDPs) commonly employed, thanks their capacity model the uncertainty modify monitor system. H...

Hierarchical task network (HTN) planning is wellknown for being an efficient planning approach. This is mainly due to the success of the HTN planning system SHOP2. However, its performance depends on hand-designed search control knowledge. At the time being, there are only very few domainindependent heuristics, which are designed for differing hierarchical planning formalisms. Here, we propose ...

In this paper we evaluate the effectiveness of agent-based aiding in support of a time-critical team-planning task for teams of both humans and heterogeneous software agents. The team task consists of human subjects playing the role of military commanders and cooperatively planning to move their respective units to a common rendezvous point, given time and resource constraints. The objective of...

We view dynamic scheduling as a sequential decision problem. Firstly, we introduce a generalized planning operator, the stochastic task model (STM), which predicts the effects of executing a particular task on state, time and reward using a general procedural format (pure stochastic function). Secondly, we show that effective planning under uncertainty can be obtained by combining adaptive hori...

It is generally very di cult, if not impossible, for a robot to perform ne manipulation tasks without the bene t of some form of sensory feedback during actual task execution. As a result, sensing planning is an important component in assembly task planning. This paper describes a method of generating visual sensing strategies based on knowledge of the task to be performed. The generation of th...

I. INTRODUCTION " Planning " , or selecting a sequence of actions to achieve a goal, has been a core focus of interest within the field of Artificial Intelligence (AI) since the field was founded in the 1950's. Initially, the focus of attention was on task planning which is concerned with sequencing actions within a symbolic representation of the state space [2]. When action costs are further i...