Hierarchical Abstraction of World Elements and Behaviors for efficient task planning of a mobile robot

Task planning by hierarchical abstraction of world elements and behaviors(PhaWeB) is proposed for mobile robots task planning, where abstraction of world elements is used to reduce search space and abstraction of behaviors is used to efficiently find more detailed behaviors. To integrate abstraction of world elements with abstraction of behaviors, we construct hierarchical domain description based on joint of action hierarchy (JAH). In JAH, some actions in a level of action hierarchy are included in the adjacent level of action hierarchy. To show the validities of our proposed PhaWeB, experimental results are illustrated and will be compared with world elements abstraction based planning approach as well as behaviors abstraction based planning approach.