Planning by adaptation: experimental results

A robot system operating in an environment in which there is uncertainty and change needs to combine the ability to react with the ability to plan ahead. In a previous paper we proposed a solution to the problems of integrating planning and reaction: cast planning as adaptation of a reactive system, the planner-reactor approach. In this paper, we present our first experimental results from this approach. The results indicate that the planner-reactor approach is an attractive option for integrating planning and reaction in a robot system, allowing smooth, online updates to the behavior, of a reactive system with little time and behavior penalties accruing from the use of a planner