Hierarchical planning algorithms
Alberto Lacaze · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2002
A novel method for communicating commands in hierarchical planning control is presented. This new method can be used to guarantee that plans created will be optimal within and across the planning graphs throughout the hierarchy. Boundary conditions are specified so that optimality is guaranteed. Specific hierarchical planning examples are given for a group of off-road autonomous ground vehicles.