Sensory Graph Planning With a Physical Agent
Daniel T. Casner, Kurt D. Krebsbach · 2006
Planning for agents working in simulated worlds where sensing and actuation are perfect are well understood but planning for a physically embodied agent who has to deal with the imperfections of the real world is more difficult. This paper presents an implementation of deliberative intelligence for a physical agent in a domain with uncertain initial conditions imperfect sensing and actuation. Replanning when the world state does not match the planner’s model is addressed.