A practical approach to integrating reaction and deliberation

Abstract A robot system operating in an environment in which there is uncertainty and change needs to integrate the ability to react with the ability to plan ahead. In this paper, we present a novel approach to this integration for a practical robot problem, the kitting robot. In our approach, planning is cast as the ongoing adaptation of a reactive system, incrementally bringing its behavior into line with a set of goals. A method is presented whereby the planner can make iterative improvements to the reactor so that it eventually converges on the ideal reactor (a concept related to the universal plan) for its environment and set of planner goals. To balance this theoretical work, our current implementation on a Puma 560 robot is overviewed.

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