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A Tale of Two Planners: Modular Robotic Planning with LDP

 

In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '09)

Michael De Rosa, Seth Copen Goldstein, Peter Lee, Padmanabhan Pillai, and Jason D. Campbell

October, 2009

Abstract


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@inproceedings{derosa-iros09,
  author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
     and Pillai, Padmanabhan and Campbell, Jason D.},
  title = {A Tale of Two Planners: Modular Robotic Planning with LDP},
  booktitle = {Proceedings of the IEEE International Conference on
     Intelligent Robots and Systems ({IROS '09})},
  venue = {IEEE/RSJ International Conference on Intelligent Robots and
     Systems (IROS)},
  year = {2009},
  month = {October},
  abstract = {LDP (Locally Distributed Predicates) is a distributed,
     high-level language for programming modular reconfigurable robot
     systems (MRRs). In this paper we present the implementation of
     two motion-planning algorithms in LDP, and analyze both their
     performance and ease of implementation. We present multiple
     variations of one planner, including a novel resource allocation
     algorithm. We then draw conclusions about both the utility of the
     motion-planning algorithms and the suitability of LDP to the
     problem space. Our experiments suggest that metamodule-based
     planning approaches have a cost in time and/or energy terms, but
     that the cost can be worth paying in exchange for the additional
     generality and separation-of-concerns offered by these
     techniques. The particular tradeoff for a given system will
     depend upon its goals and the details of the underlying
     modules.},
  url = {http://www.cs.cmu.edu/~claytronics/papers/derosa-iros09.pdf},
  keywords = {Planning, Modular Robotics, Programming, LDP}
}

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