
20.3 Planning for the Design of a Robust Controller 477
the state space in domain-independent planning. Although does not have the
nice topological properties of CS that enable L(q, q
) to be computed easily, it turns
out that the roadmap principle can be successfully applied to classical planning, as
shown by Guere and Alami [251].
20.3 Planning for the Design of a Robust Controller
Consider an autonomous mobile robot in a structured environment, such as the
robot in Figure 20.1 (a), which is equipped with several sensors—sonar, laser,
vision—and actuators, and with an arm. The robot also has several software mod-
ules for the same sensory-motor ...