[PDF] Top 20 Temporal and Hierarchical Models for Planning and Acting in Robotics

... Our planning procedure follows the general one of refinement planning (as formalized by Kambhampati, Knoblock, and Yang [KKY95] and Schattenberg [Sch09, ...flaws in a partial plan ... Voir le document complet

... discussed in Chapter 4 probabilistic causal image models have been thoroughly studied since the early 90's through hierarchical MRFs on ...These models rely on a causality concept captured by ... Voir le document complet

... MPC and a linearized MPC based on a dynamic bicycle model where load transfer between the front and the rear axles are taken into ...Longitudinal and lateral Pacejka tire model are used where the ... Voir le document complet

... Labels in Visualization Textual labels have been used extensively in scientific vi- sualization to augment the rendered spatial data with a verbal ...environments. For interactive 3D models, ... Voir le document complet

... sequence models (Dubnov et al. 1998), Markov models (Pachet 2002), deep neu- ral networks (Bickerman et ...style and on a prior knowledge of a sequential structure called scenario ...Pachet ... Voir le document complet

... mathematics and com- puter science to electronics, computer vision, sensors and many ...made in each of these disciplines. The constant developments made in those fields lead to the emergence ... Voir le document complet

... reduced and contains a limited number |B| of ...as in eq. 1 provides a relatively too sim- ple mathematical model for POMDP reasoning on percep- tion applications (Spaan 2008; Araya-L´opez et ... Voir le document complet

... the planning representations listed above assume a static environment or can handle some limited exten- sions of this ...remain for grasping the proper dynamics of the ...reasonable for ... Voir le document complet

... Operational Models Our formalism for operational models of actions is based on the one in (Ghallab, Nau, and Traverso 2016, Chapter ...allow for dealing with a dynamic envi- ... Voir le document complet

... leaf and at each level, the incremental classification technique adjusts the parameters of the models and update data-to-model assignments (as described in section ...evolve in a ... Voir le document complet

... change, temporal constraints, computat- ional resource bounds, and the impact agents’ shorter term actions might have on their own or other agents’ longer term ...world and will compete for ... Voir le document complet

... (Younes and Simmons 2003) and DT-POP (Schwartz and Pollack ...have in the past used a hierarchical plan-space ...a temporal logic based on instants and intervals, together ... Voir le document complet

... ‡ In many networking settings the ingress flows to the network has a nice (almost) periodic ...(QoS) for the flows, where one basic QoS guarantee is a deadline by which a transfer would ...this in ... Voir le document complet

... A temporal planning problem hI, A, Gi consists of a set of actions A, an initial state I and a goal G, where I and G are sets of ...fluents. In a positive problem all fluents in ... Voir le document complet

... finite and non-empty set of task symbols; • ∆ ⊆ (T ∪{nil}) × L × (T ∪{nil}) is a set of constraints over T • α : T → C ∪ O labels every task with an ...tion in a task network. Compared to the ordering ... Voir le document complet

... A temporal planning problem hI, A, Gi consists of a set of actions A, an initial state I and a goal G, where I and G are sets of ...fluents. In a positive problem all fluents in ... Voir le document complet

... Before planning issues, one of the conditions for autonomous navigation is the robot’s ability to determine its own pose and velocity in a frame of reference because it will condition its ... Voir le document complet

... true for a to be executed, the set of additions Add(a) is the set of fluents which are established by a, the set of deletions Del(a) is the set of fluents which are destroyed by a, and the set of ... Voir le document complet

... play. In this context, hierarchical Bayesian networks such as hierarchical latent class models (HLCMs) were ...] for various reasons. First, multiple LVs organized in a ... Voir le document complet

... topic models can be efficiently used to create relevant ...illustrate in the next paragraph, the links cre- ated with topic models are different from those created with direct content comparison, yet ... Voir le document complet