{"paper":{"title":"Integrating High Level and Low Level Planning","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Pete Trautman","submitted_at":"2016-11-26T23:57:30Z","abstract_excerpt":"We present a possible method for integrating high level and low level planning. To do so, we introduce the global plan random \\emph{trajectory} $\\boldsymbol{\\eta}_0 \\colon [1,T] \\to \\mathbb R^2$, measured by goals $G_i$ and governed by the distribution $p(\\boldsymbol{\\eta}_0 \\mid \\{ G_i\\}_{i=1}^m)$. This distribution is combined with the low level robot-crowd planner $p(\\mathbf{f}^{R},\\mathbf{f}^{1},\\ldots,\\mathbf{f}^{n}\\mid\\mathbf{z}_{1:t})$ (from~\\cite{trautmanicra2013, trautmaniros}) in the distribution $p(\\boldsymbol{\\eta}_0,\\mathbf{f}^{(R)},\\mathbf{f}\\mid\\mathbf{z}_{1:t})$. We explore thi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1611.08767","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}