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Authors: Bernd Kast 1 ; Vincent Dietrich 1 ; Sebastian Albrecht 1 ; Wendelin Feiten 1 and Jianwei Zhang 2

Affiliations: 1 Siemens AG, Corporate Technology, Otto-Hahn-Ring 6, 81739 Munich, Germany ; 2 University of Hamburg, Faculty of Mathematics, Informatics and Natural Sciences, Vogt-Kölln-Str. 30, 22527 Hamburg, Germany

Keyword(s): Hierarchy, Planning, Autonomy, Robotic Assembly.

Abstract: The design of planning domains for autonomous systems is a hard task, especially when different parties are involved. We present a domain optimization algorithm for hierarchical planners that uses a set-based formulation. Due to an automatic alignment we can compose models from different sources to a larger domain for efficient planning. The combination of domain optimization and hierarchical planning can handle large scale domains very efficiently. Our algorithm reduces the effects of the non-optimality that comes with the hierarchical approach. We demonstrate the scalability with a task and motion planning problem. In the scenario of a robotic assembly with up to 62 parts and plan lengths of over 1000 steps the planning times are kept within 15 minutes. We show the execution of our plans on a real-world dual-robot setup.

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Paper citation in several formats:
Kast, B.; Dietrich, V.; Albrecht, S.; Feiten, W. and Zhang, J. (2020). Domain Optimization for Hierarchical Planning based on Set-Theory. In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-442-8; ISSN 2184-2809, SciTePress, pages 759-766. DOI: 10.5220/0009823007590766

@conference{icinco20,
author={Bernd Kast. and Vincent Dietrich. and Sebastian Albrecht. and Wendelin Feiten. and Jianwei Zhang.},
title={Domain Optimization for Hierarchical Planning based on Set-Theory},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2020},
pages={759-766},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009823007590766},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Domain Optimization for Hierarchical Planning based on Set-Theory
SN - 978-989-758-442-8
IS - 2184-2809
AU - Kast, B.
AU - Dietrich, V.
AU - Albrecht, S.
AU - Feiten, W.
AU - Zhang, J.
PY - 2020
SP - 759
EP - 766
DO - 10.5220/0009823007590766
PB - SciTePress

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