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A new approach to combined symbolic-geometric backtracking in the context of human-robot interaction

Lavindra de Silva 1 Mamoun Gharbi 1 Amit Kumar Pandey 1 Rachid Alami 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : Bridging the gap between symbolic and geometric planning has received much attention in recent years. An important issue in some of the works that combine the two approaches is finding the right balance between backtracking at the symbolic level versus at the geometric planning level. We present in this work a new approach to interleaved backtracking, where the symbolic planner backtracks to try alternative action branches that naturally map to different geometric solutions. This eliminates the need to “protect” certain symbolic conditions when backtracking at the geometric level, and addresses a completeness issue in our previous approach to interleaved backtracking. We discuss a concrete, non-trivial symbolic-geometric planning example in the context of Human-Robot Interaction, a full implementation of the combined planning technique, and an evaluation of performance as well as the effect of increasing the symbolic-action branching factor.
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Conference papers
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https://hal.laas.fr/hal-01976153
Contributor : Rachid Alami <>
Submitted on : Wednesday, January 9, 2019 - 6:18:25 PM
Last modification on : Friday, January 10, 2020 - 9:10:16 PM

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Lavindra de Silva, Mamoun Gharbi, Amit Kumar Pandey, Rachid Alami. A new approach to combined symbolic-geometric backtracking in the context of human-robot interaction. IEEE International Conference on Robotics and Automation (ICRA 2014), May 2014, Hong Kong, China. ⟨10.1109/ICRA.2014.6907403⟩. ⟨hal-01976153⟩

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