In this work, we present a general approach to task planning based on contingent planning and run-time sensing, which forms part of a robot task planning framework called KVP. Using the general-purpose PKS planner, we model information-gathering actions at plan time that have multiple possible outcomes at run time. As a result, perception and sensing arise as necessary preconditions for manipul...

Human-robot collaboration requires the two sides to coordinate their actions in order to better accomplish common goals. In such setups, the timing of actions may significantly affect collaborative performance. The present work proposes a new framework for planning multi-agent interaction that is based on the representation of tasks sharing a common starting and ending point, as petals in a com...

Real-time strategy (RTS) games are hard from an AI point of view because they have enormous state spaces, combinatorial branching factors, allow simultaneous and durative actions, and players have very little time to choose actions. For these reasons, standard game tree search methods such as alphabeta search or Monte Carlo Tree Search (MCTS) are not sufficient by themselves to handle these gam...

We consider the multi-robot task allocation (MRTA) problem in an initially unknown environment. The objective of the MRTA problem is to find a schedule or sequence of tasks that should be performed by a set of robots so that the cost or energy expended by the robots is minimized. Existing solutions for the MRTA problem mainly concentrate on finding an efficient task allocation among robots, wit...

In L2 development, the cognitive complexity of tasks plays a crucial role in task performance and language features produced. However, there have only been few studies addressing the impact of task complexity on EFL learners' attention to L2 system and form-focused self-repairs (FFS).This study explores the role of increasing cognitive task complexity in EFL learners' form-focused attention (FF...

In L2 development, the cognitive complexity of tasks plays a crucial role in task performance and language features produced. However, there have only been few studies addressing the impact of task complexity on EFL learners' attention to L2 system and form-focused self-repairs (FFS).This study explores the role of increasing cognitive task complexity in EFL learners' form-focused attention (FF...

One drawback of Hierarchical Task Network (HTN) planning is the difficulty of providing complete domain knowledge, i.e., a complete and correct set of HTN methods for every task. To provide a principled way to overcome this difficulty, we define a simple formalism that extends classical planning to include problem decomposition using methods, and a planning algorithm based on this formalism. In...