Planning with Qualitative Models for Robotic Domains
نویسندگان
چکیده
We aim to develop an online method for learning robot behaviours that requires only a small number of trials, making it practical for use on a real robot. A hybrid method includes a symbolic planner, using qualitative reasoning, that constructs an approximate solution to a control problem. This approximate solution provides constraints for a numerical optimisation algorithm, which is used to refine the qualitative plan into an operational policy. The method is demonstrated on a multi-tracked robot intended for urban search and rescue.
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تاریخ انتشار 2013