Towards Adjoint Sensing and Acting Schemes and Interleaving Task Planning for Robust Robot Plan
Shuo Yang Xinjun Mao Shuo Wang Huaiyu Xiao Yuanzhou Xue Shuo Yang Xinjun Mao Shuo Wang Huaiyu Xiao Yuanzhou Xue
Robots operating in open environments expect to have robust plans to achieve tasks successfully under environment uncertainties. However, both partial observability and dynamics of environment states have significantly decreased the robustness of task achievement, making robot task planning much more challenging. The partially observable states require the robot to obtain observations for optimall...