A automatic construction technique of Robust Behavior Plan

강인 행동 계획의 자동 생성 방법

In this paper, we propose a planning algorithm which automatically generates robust behavior plans for service robots in the dynamically changing environments. The proposed method searches for paths to perform the given tasks in the physical space and the configuration space where tasks are described. And then, the characteristics of paths for successfully performed task are abstracted and generalized to build an ordered-tree structure. The resulting robust behavior plans guarantee that the given tasks are successfully performed. The validity of our method is tested by simulation work for a pushing-box task.