A Framework for Planning with Incrementally Created Graphs in Attributed Problem Spaces

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IOS Press, 2003 - Mathematics - 259 pages
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In this thesis, a framework for parallel planning agents is developed and applied to planning problems ranging from domain independent planning to planning for autonomous vehicle systems. This general-purpose framework combines both logic-based and cost-based planning approaches in order to allow for the creation of logic-constrained, cost optimal plans with respect to possibly dynamic environments, user objectives, and constraints while providing the ability to construct "anytime" plans in partitioned problem spaces.
 

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Contents

Agent Architectures
5
Gross Motion and Domain 1ndependent Planning
29
A Framework for Planning with lncrementally Created Graphs
63
The Layered World Model and Planning gystem 67
88
lmplementation and Results
115
Conclusions
155
List of Acronyms and Definitions
161
Planning Experiments for OffRoad Driving
178
References
247
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