A compact task representation for hierarchical robot control

• Published in: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) pp. 697 - 704
• Main Authors: Fraser, Luke, Rekabdar, Banafsheh, Nicolescu, Monica, Nicolescu, Mircea, Feil-Seifer, David, Bebis, George
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.11.2016
• Subjects: Computer architecture; Encoding; Planning; Robot control; Robustness; Switches

Robot tasks for real-world applications typically involve multiple paths of execution, where the same task can be achieved in different ways. This poses challenges with respect to the representation and execution of such tasks, as enumerating all possible execution paths leads to combinatorial incre...