タスクプランニングarXiv:2210.07428
FOONグラフにおける探索アルゴリズムの性能比較研究
A comparative study of the performance of different search algorithms on FOON graphs
ロボットのタスク計画に用いられるFOONグラフ上で、BFS・貪欲BFS・反復深さ優先探索の性能を比較した研究。
著者: Kumar Shashwat
分類: cs.RO
原文アブストラクト
A robot finds it really hard to learn creatively and adapt to new unseen challenges. This is mainly because of the minimal information it has access to or experience towards. Paulius et al. [1] presented a way to construct functional graphs that encapsulate. Sakib et al. [2] further expanded FOON objects for robotic cooking. This paper presents a comparative study of Breadth First Search (BFS), Greedy Breadth First search (GBFS) with two heuristic functions, and Iterative Depth First Search (IDFS) and provides a comparison of their performance.