Integrating Uncertainty into Planners for Multi-Tier Autonomous Agent Architectures

This paper addresses the issue of modifying planners to produce better plans in the face of uncertainty. The traditional planning paradigm has serious aws in the face of a dynamic and uncertain world. As a result, integrated end{to{end mobile robotic systems must overcome numerous obstacles to integrate planners into a multi-tiered architecture. This paper explores the types of problems caused by uncertainty, and proposes several speciic changes to be incorporated into planning systems. A proposal of future work is detailed.