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Paper ThP109.2

Allen, Thomas (The University of Sydney), Scheding, Steven (The University of Sydney)

The Time-Optimal Planning and Execution Problem

Scheduled for presentation during the Regular Sessions "Motion and Path Planning V" (ThP109), Thursday, May 12, 2011, 13:55−14:10, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Motion and Path Planning, Agent-Based Systems, Planning, Scheduling and Coordination

Abstract

This paper introduces the Time-Optimal Planning and Execution (TOPE) problem, in which the aim is to minimise the total planning and execution time required to achieve a goal. The TOPE process is derived and shown to be capable of solving this problem in dynamic state spaces, by continuously calculating the optimum value of any system parameters that can affect this total time. Procedures are presented to apply this process to an existing replanning system, and to determine its required accuracy and timeliness. It is shown that the TOPE process can yield lower total times than other planning systems if these requirements are met.

 

 

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