Adaptive selection of reactive/deliberate planning for a dynamic environment

Satoshi Kurihara, Shigemi Aoyagi, Rikio Onai, Toshiharu Sugawara

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


This paper proposes and evaluates a new real-time reactive planning approach for a dynamic environment. In addition to having the features of conventional real-time reactive planning, which can react in a dynamic environment, our planning can perform deliberate planning appropriately. The proposed planning uses three kinds of agents: behavior agents that control simple behavior, planning agents that make plans to achieve their own goals, and behavior-selection agents that intermediate between behavior agents and planning agents. They coordinate a plan in an emergent way for the planning system as a whole. We confirmed the effectiveness of our planning by means of a simulation. Furthermore, we implemented an active-vision system and used it to verify the real-world efficiency of our planning.

Original languageEnglish
Pages (from-to)183-195
Number of pages13
JournalRobotics and Autonomous Systems
Issue number3-4
Publication statusPublished - 1998 Sept 30
Externally publishedYes


  • Autonomous system
  • Dynamic environment
  • Integrating reactive and deliberate planning
  • Multi-agent planning
  • Real-world agent
  • Spreading activation model

ASJC Scopus subject areas

  • Software
  • General Mathematics
  • Control and Systems Engineering
  • Computer Science Applications


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