Robot Assistance in Dynamic Smart Environments-A Hierarchical Continual Planning in the Now Framework.

ABSTRACT: By coupling a robot to a smart environment, the robot can sense state beyond the perception range of its onboard sensors and gain greater actuation capabilities. Nevertheless, incorporating the states and actions of Internet of Things (IoT) devices into the robot's onboard planner increases the computational load, and thus can delay the execution of a task. Moreover, tasks may be frequently replanned due to the unanticipated actions of humans. Our framework aims to mitigate these inadequacies. In this paper, we propose a continual planning framework, which incorporates the sensing and actuation capabilities of IoT devices into a robot's state estimation, task planing and task execution. The robot's onboard task planner queries a cloud-based framework for actuators, capable of the actions t

SUBMITTER: Harman H 

PROVIDER: S-EPMC6891406 | biostudies-literature | 2019 Nov

REPOSITORIES: biostudies-literature