The Time-Optimal Planning and Execution Problem

摘要：

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.

作者: Thomas Allen Steven Scheding

作者单位: The Australian Centre for Field Robotics,The University of Sydney,NSW,Australia

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5608-5614

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）