2025/05/07 by Or Wertheim, Wertheim, Or, Ronen I. Brafman +1
Computer Science · #AI-based Problem Solving and Planning #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Real-Time Systems Scheduling #Robotic Path Planning Algorithms #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2505.04493
openalex publication_date 2025/05/07 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics. Yet, while diverse general-purpose reasoning architectures have been proposed since, general-purpose systems that are integrated with modern robotic platforms have emerged only recently, starting with the influential ROSPlan system. Since then, a growing number of model-based systems for robot task-level control have emerged. In this paper, we consider the diverse design choices and issues existing systems attempt to address, the different solutions proposed so far, and suggest avenues for future development.