Qualitative Planning with Quantitative Constraints for Online Learning of Robotic Behaviours

Authors

  • Timothy Wiley The University of New South Wales
  • Claude Sammut The University of New South Wales
  • Ivan Bratko University of Ljubljana

DOI:

https://doi.org/10.1609/aaai.v28i1.9055

Keywords:

Robotics, Qualitative Reasoning, Qualitative Planning, Machine Learning

Abstract

This paper resolves previous problems in the Multi-Strategy architecture for online learning of robotic behaviours. The hybrid method includes a symbolic qualitative planner that constructs an approximate solution to a control problem. The approximate solution provides constraints for a numerical optimisation algorithm, which is used to refine the qualitative plan into an operational policy. Introducing quantitative constraints into the planner gives previously unachievable domain independent reasoning. The method is demonstrated on a multi-tracked robot intended for urban search and rescue.

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Published

2014-06-21

How to Cite

Wiley, T., Sammut, C., & Bratko, I. (2014). Qualitative Planning with Quantitative Constraints for Online Learning of Robotic Behaviours. Proceedings of the AAAI Conference on Artificial Intelligence, 28(1). https://doi.org/10.1609/aaai.v28i1.9055