A Modular Approach of Decision-Making in the Context of Robot Navigation in Domestic Environments
Alexandra Kirsch · EPiC series in computing · 2018
Decision processes in Artificial Intelligence are often organized hierarchically. One example is robot navigation with a global path planner and a local executor. This paper examines whether a shift from optimizing the two typical modules in navigation towards a dynamic interaction of more, not necessarily hierarchically linked, modules leads to robust navigation behavior. We empirically evaluate different organizations of modules for navigation in a simulated household with a simulated PR2 robot.