20.4 Dock-Worker Robots 487
20.3.4 Analysis of the Approach
The system described here was deployed on an indoor mobile platform and exper-
imented with in navigation tasks within a wide laboratory environment. The
approach is fairly generic and illustrates the use of planning techniques in robotics,
not for the synthesis of mission plans but for achieving a robust execution of their
high-level steps.
The HTN planning technique used for specifying detailed alternative plans to be
followed by a controller for decomposing a complex task into primitive actions
is fairly general and powerful. It can be widely applied in robotics because it
enables one to take into account closed-loop feedback from sensors and primitive
actions. It extends significantly and ...