Resource-Coordinated Hierarchical Planning for Real-Time Autonomous Systems

In recent years, mobile robots have been used to perform tasks unsuitable for humans, be they too dangerous or logistically difficult. Their use has allowed undertakings which would have otherwise been impossible or economically infeasible. Still, robot technology is quite limited. In particular, many of the more challenging robotic tasks require a person to actively control the robot and make the decisions necessary for completing the task. In a number of applications, the requirement for a person to be in control of the robot is prohibitive; these applications require rapid, flawless communication between the robot and the operator. Removal of the communications link would allow whole new fields of research and enterprise, particularly in underwater and space applications, where communication is technically difficult and of low quality. The capabilities required of an autonomous mobile robotic system include the ability to make and to execute plans. In order to execute plans, the system must make the decisions necessary to execute those plans, and it must determine when replanning is necessary. The planning problem is one that is often considered in the context o