Fig. 5

Case 2: Dynamic planning under uncertain situation. Different colors of path trajectories shows different plans, where red represents executed the first plan, which subsequently leads to green (due to missing M1), after which leads to the blue (due to missing M2). From step 1 to 3, the robot tries to fetch M1 from the fridge N22. In step 3, due to missing M1 (due to someone taking it away), re-planning is performed, which leads the robot to fetch M2 from the cabinet(N20) in step 4. As M2 is missing too, re-planning is performed, which leads to the robot fetching M3. It goes to bedroom 2 in Step 5, and fetch M3 in the cabinet in Step 6. Finally, it brings it to the human in the living room in Step 7