Planning and Goal Reasoning

The same objects can be refered to by many names. In planning locations may often be listed with names such as loc-a that do not give an indication about the type of location. User provided goals are likely not in terms of the symbols used by the planner. For instance a goal may require the robot to go to a kitchen. In this example, we use a reasoner to translate goals provided to a planner to goals that the planner can understand. As an input, we use a graph that describes sub-class relationships and our reasoner simply attemts to find a path from symbols unknown to the planner to symbols known to the planner.

Go here for instructions to run the example.