Motion-planning for autonomous vehicles involves a two-level planning hierarchy: a high-level task-planning algorithm and a lower-level trajectory generation algorithm. The task planner operates on a discrete structure, such as a graph, whereas the trajectory generator operates on a dynamical system with a continuous state space. The problem of ensuring “compatibility” between these two planner...

We propose a methodology to automatically generate plans for a robot excavator like a bucket loader or a backhoe. The task is formulated as one of constrained optimization in an action space that is spanned by the parameters of a prototypical digging plan. We show how geometric and force constraints are imposed on the action space to build the set of feasible plans, and discuss methods to optim...

In this paper we present an algorithm for planning in nondeterministic domains. Our algorithm C-SHOP extends the successful classical HTN planner SHOP, by introducing new mechanisms to handle situations where there is incomplete and uncertain information about the state of the environment. Being an HTN planner, C-SHOP supports coding domain-dependent knowledge in a powerful way that describes h...

The Robot Operating System (ROS) is a set of software libraries and tools used to build robotic systems. ROS is known for a distributed and modular design. Given a model of the environment, task planning is concerned with the assembly of actions into a structure that is predicted to achieve goals. This can be done in a way that minimises costs, such as time or energy. Task planning is vital in ...

There has been much interest recently in problems that combine high-level task planning with low-level motion planning. In this paper, we present a problem of this kind that arises in multi-vehicle mission planning. It tightly integrates task allocation and scheduling, who will do what when, with path planning, how each task will actually be performed. It extends classical vehicle routing in th...

This paper presents a multi-agent system for planning, plan optimization and plan executionmonitoring in a real-time railroad transportation scenario. The planning process is implemented as incremental anytime algorithm that is capable of integrating new task specifications in the ongoing planning and planexecutionprocess. An initial solution is obtained by executing thecontractnet protocol for...

This paper is devoted to the way point following motion task of a unicycle where the motion planning and the closed-loop motion realization stage are considered. The way point following task is determined by the user-defined sequence of waypoints which have to be passed by the unicycle with the assumed finite precision. This sequence will take the vehicle from the initial state to the target st...

The purpose of this study is to extend the literature by examining the effects of an acute bout of moderate to vigorous intensity aerobic exercise on the executive functions of planning and problem solving assessed using a Tower of London Task (TOL Task). Forty-two participants were randomly assigned into either exercise or control group, and performed the TOL Task, before and immediately follo...