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Fig. 1 | ROBOMECH Journal

Fig. 1

From: Service robot planning via solving constraint satisfaction problem

Fig. 1

Planning and execution flow. When the program starts, the state is -1. Given the goal, the state will change to 1 if solution is found, 4 otherwise. Execution is done through state 1 to state 3. When the plan execution is finished, the state will proceed to state 5 and 6, upon which new goal will be obtained for subsequent planning

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