Repairing of Robot Plans

• Thesis title in Czech: Oprava plánů robota
• Thesis title in English: Repairing of Robot Plans
• Key words: plán robota, dynamické plánování, inkrementální plánování
• English key words: robot plan, dynamic planning, incremental planning
• Academic year of topic announcement: 2014/2015
• Thesis type: diploma thesis
• Thesis language: angličtina
• Department: Department of Theoretical Computer Science and Mathematical Logic (32-KTIML)
• Supervisor: RNDr. David Obdržálek, Ph.D.
• Author: hidden - assigned and confirmed by the Study Dept.
• Date of registration: 27.05.2015
• Date of assignment: 27.05.2015
• Confirmed by Study dept. on: 04.06.2015

Guidelines

Goal of the thesis is to propose, implement and test an algorithm for rapid repairing of robot plans compromised by the non-determinism of the robot actions or incomplete information about outcomes of robot actions.
Performance of the algorithm should be tested at least in a simulated environment with an appropriate robot.

References

Steven M. LaValle: Planning Algorithms, Cambridge University Press, 2006, ISBN-13: 978-0521862059
S. Karaman and E. Frazzoli, “Sampling-based Algorithms for Optimal Motion Planning,” International Journal of Robotics Research, vol. 30, iss. 7, pp. 846-894, 2011, ISSN: 0278-3649