1.4.3 Plans

Once a plan is determined, there are three ways to use it:

  1. Execution: Execute it either in simulation or in a mechanical device (robot) connected to the physical world.
  2. Refinement: Refine it into a better plan.
  3. Hierarchical Inclusion: Package it as an action in a higher level plan.
Each of these will be explained in succession.


Steven M LaValle 2012-04-20