Seminar "Selected Topics on Planning and Plan Execution for Robotic Systems" SS 2017

Submitted by Till Hofmann on 9. January 2017 - 18:41

In this seminar we will study plan generation and plan execution in robotic domains. While planning deals with the problem of finding suitable actions to accomplish a certain goal, plan execution and monitoring on robots come with additional problems: The agent's knowledge is no longer complete, the environment may change during plan execution, humans and other agents may interfere with the agent's actions, and resource and temporal constraints need to be honored. The plan executive needs to execute actions physically on a robot, adapt to changes during execution, and repair the current plan or replan if necessary. In this seminar, we will look at various methods to deal with those problems and we will investigate how these methods are applied on real-world robotic systems.


Students of Bachelor and Master programs can participate in this seminar. For Master Informatik students, the seminar belongs to the fields Data and Information Management. Certain topics may also be suitable for the field Theoretical Computer Science, please contact us beforehand. For Master Software Systems Engineering (SSE) students, it belongs to the fields Theoretical Foundations of SSE and Data and Information Management.

Places are allocated centrally from 13.01.2017 until 29.01.2017. In your application please clearly indicate your prior knowledge of the subject (see the requirements section). We won't be able to consider your application otherwise. The number of available slots is limited.


Knowledge of the fundamental concepts of Artificial Intelligence is strongly recommended, an understanding of knowledge representation and logic will be helpful. Relevant courses include Introduction into Artificial Intelligence, Knowledge Representation, and Mathematical Logic.


This is the preliminary list of topics and may change anytime before the introductory meeting.

  1. Introduction to Planning on Mobile Robots
  2. P. Bercher, S. Biundo, T. Geier, T. Hoernle, F. Nothdurft, F. Richter, and B. Schattenberg,
    “Plan, Repair, Execute, Explain - How Planning Helps to Assemble your Home Theater”
  3. K. Talamadupula, D. E. Smith, W. Cushing, S. Kambhampati, and M. Field,
    “A Theory of Intra-Agent Replanning”
  4. S. Lemai and F. Ingrand,
    “Interleaving temporal planning and execution in robotics domains”
  5. J. Kvarnström, F. Heintz, and P. Doherty,
    “A Temporal Logic-Based Planning and Execution Monitoring System”
  6. K. Halsey, D. Long, and M. Fox,
    “CRIKEY - A Temporal Planner Looking at the Integration of Scheduling and Planning”
  7. L. Mudrova and N. Hawes,
    “Task Scheduling for Mobile Robots Using Interval Algebra”
  8. A. Orlandini, A. Finzi, A. Cesta, and S. Fratini,
    “TGA-based controllers for flexible plan execution”
  9. S. Srivastava, N. Immerman, and S. Zilberstein,
    “Challenges in Finding Generalized Plans”
  10. Y. Hu and G. De Giacomo,
    “A Generic Technique for Synthesizing Bounded Finite-State Controllers”
  11. A. Finzi and F. Pirri,
    “Representing flexible temporal behaviors in the situation calculus”
  12. R. P. A. Petrick,
    “P^2 : A Baseline Approach to Planning with Control Structures and Programs”

Additional information

Introductory Meeting
The introductory meeting will take place on Tuesday, April 11th, 10:00 in the I5 Seminar Room 6202. Participation is compulsory. The slides are available here.
Seminar Procedure
Besides writing your own term paper, you are asked to review other students' term papers. We will use a conference management system (e.g., EasyChair) for this procedure. It will involve strict deadlines. Meeting these deadlines is mandatory. At the end of the seminar each student needs to give a talk on his topic in front of the other students and members of our group. Attendance of these talks and participation in the discussions is mandatory.
Seminar Date
The seminar will be held as a block seminar on two or three days, likely during the semester break.
You may use this LaTeX template for your term paper.
General Info
Please read and understand our general information and suggestions on seminars!
Library Tour
The Computer Science Library offers guided tours on how to find literature in the library and how to prepare a seminar. Interested students should enlist for a tour in the preliminary discussion.