Parallel scheduling of planning and action for realizing an efficient and reactive robotic system

This paper describes a method of parallel scheduling of planning and action to realize an efficient and reactive robotic system in dynamic environments. The method uses partial planning result, which comes from an iterative refinement planning, to determine feasible actions to be executed in parallel with the planning process. The method is applied to a multiple-camera multiple-person tracking problem. Simulation results show the effectiveness of the method.