Parallel scheduling of planning and action for realizing an efficient and reactive robotic system

This paper describes a method of parallel scheduling of planning and action to realize an efficient and reactive robotic system in dynamic environments. The method uses a partial planning result, which comes from an iterative refinement planning, to determine feasible actions to be executed in parallel with the planning process. The method is applied to a multiple-camera multiple-person tracking problem. Simulation results show the effectiveness of the method.