@inproceedings{6520011772c8416a8d2f72837589e80a,
title = "Algorithm for hierarchical robot planning",
abstract = "A representation scheme called the goal-model net (GMN), which is used to represent a goal which a robot is supposed to achieve, is proposed. The planning sequence produced by GMN is in two forms: (1) a combination of parallel and sequential plan steps and (2) sequential steps only. A domain-specific heuristic is used for the generation of sequential plans from combinatorial ones. Overall, the planning approach based on GMN reduces the interaction among subgoals by avoiding the unreasonable decomposition of the goal. Hierarchical GMN-based planning decreases computational complexity. The approach has been implemented in the Lisp programming language and utilized in an intelligent robot system for assembling parts in an artificial intelligence laboratory.",
author = "Zhang, {Wei Xiong} and Bo Zhang and Zhou, {Yan Qing}",
year = "1988",
language = "English",
isbn = "7800030393",
series = "Proc 1988 Int Conf Syst Man Cybern",
publisher = "Publ by IEEE",
pages = "909--912",
booktitle = "Proc 1988 Int Conf Syst Man Cybern",
note = "Proceedings of the 1988 International Conference on Systems, Man, and Cybernetics ; Conference date: 08-08-1988 Through 12-08-1988",
}