| 摘要 | 第1-5页 |
| ABSTRACT | 第5-7页 |
| ACKNOWLEDGEMENTS | 第7-11页 |
| LIST OF TABLES | 第11-12页 |
| LIST OF FIGURES | 第12-14页 |
| 1.Introduction | 第14-23页 |
| ·Background and significance of the research | 第14-15页 |
| ·Literature review of development advances of planning | 第15-20页 |
| ·The language of planning problems | 第16页 |
| ·The development of planning algorithm | 第16-18页 |
| ·Planning and action in nondeterministic domains | 第18-20页 |
| ·State-of-the-art in robot task planning | 第20-21页 |
| ·The content of this thesis | 第21-23页 |
| 2.Robot task and world modeling | 第23-42页 |
| ·The modeling of robot skill | 第23-27页 |
| ·The planning modeling language | 第23-24页 |
| ·The classification for atomic robot skill | 第24页 |
| ·The modeling for robot skills | 第24-27页 |
| ·The property and modeling of external objects | 第27-28页 |
| ·External objects and the properties | 第27页 |
| ·Symbolic representation of external object | 第27-28页 |
| ·Multi-modal perceptual and executive skills | 第28-33页 |
| ·Multi-modal perceptual skills | 第28-31页 |
| ·Multi-modal executive skills | 第31-33页 |
| ·Task decomposition based on HTN method | 第33-40页 |
| ·The HTN procedures | 第35-36页 |
| ·The HTN decomposition of high-level delivery_service | 第36-38页 |
| ·The HTN decomposition of subtask | 第38-40页 |
| ·Chapter summary | 第40-42页 |
| 3.The integrated and enhanced planner system design | 第42-58页 |
| ·The HTN planning system JSHOP2 | 第42-46页 |
| ·The Definition of JSHOP2 Problem and domain | 第43-44页 |
| ·Plan Generation Process by JSHOP2 | 第44-45页 |
| ·Revised Auto-compiling Process | 第45-46页 |
| ·Integrating HTN planning with system framework | 第46-50页 |
| ·System software architecture | 第46-48页 |
| ·Planning process in control architecture with memory | 第48-49页 |
| ·Building the domain description and Problem Template | 第49-50页 |
| ·Planning domain for the service robot scenario | 第50-53页 |
| ·Navigation in challenging environments | 第51页 |
| ·Pick-up and delivery services | 第51-52页 |
| ·Cleaning selectively based on the environment | 第52-53页 |
| ·Approach for planning with partial observability | 第53-57页 |
| ·Handling partial observability with problem template | 第54-55页 |
| ·Handling predictable exception by replanning | 第55-57页 |
| ·Chapter summary | 第57-58页 |
| 4.Integrated experiments and results | 第58-70页 |
| ·Delivery service under exceptional situations in 3Dsimulation | 第58-64页 |
| ·Simulation interface and integrated process | 第59-61页 |
| ·Deliver milk with closed but unlocked door | 第61页 |
| ·Find medicine experiment | 第61-64页 |
| ·Clean service under exceptional situations | 第64-66页 |
| ·Find cup experiment by MBHP in mobile platform | 第66-69页 |
| ·Chapter summary | 第69-70页 |
| 5.conclusion and prospects | 第70-72页 |
| References | 第72-75页 |
