Embedded planning

Abstract

We present a planner that generates nonlinear plans in real-time to control an autonomous agent. Requirements of plan generation in an embedded system are obtained by extending the action representation of [Chapman 87] and [McAllester & Rosenblitt 91] regarding locations, arithmetic equations and variable's domain. The implementation of this planner exhibits attractive real-time performances. This planner is used to generate plans on the fly for a mobile robot performing various tasks to assist in office work.