Reactive Planning

Why reactive planning?

Reactive planning refers to the control strategy where a robot maps directly from its state to its available actions. This contrasts with deliberative planning, where a robot carries out (often extensive) computation to select an action.

Both types of planning are required for robots to carry out complex behavior, but reactive planning is especially suited to low-level control where it is essential to respond quickly to changing environmental conditions. By developing reactive planners capable of carrying out complex behaviors, we enable the development of increasingly effective deliberative planners.


Reactive Motion Planning
This research aims to integrate feedback control and machine perception for the design of safe reactive robot behaviors that are responsive to changes in the robot’s surrounding environment.
Sponsor: AFRL
Group: Omur Arslan, Vasileios Vasilopoulos

 

 


Reactive Motivational Dynamics

Sponsor: AFRL
Group: Paul Reverdy, Vasileios Vasilopoulos

 

 

 


Universal Memory-and-Control Architectures

Sponsor: AFRL

Past Sponsors: AFOSR CHASE MURI, NSF-CABiR

Group: Daniel E. Koditschek, Siqi Huang (Penn CIS-CGGT masters program graduate) and Darius Rodgers (Penn ESE Junior)