Learning When to Quit: Meta-Reasoning for Motion Planning
Yoonchang Sung,Leslie Pack Kaelbling,Tomás Lozano-Pérez,Yoonchang Sung,Leslie Pack Kaelbling,Tomás Lozano-Pérez
Anytime motion planners are widely used in robotics. However, the relationship between their solution quality and computation time is not well understood, and thus, determining when to quit planning and start execution is unclear. In this paper, we address the problem of deciding when to stop deliberation under bounded computational capacity, so called meta-reasoning, for anytime motion planning. ...
