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We discuss here three system-initiated triggers (prompts) for path-replanning. The objective is to create an interactive replanning system that yields paths that consistently match human intent. The triggers are to replan (a) at regular time intervals, (b) when the current robotic path deviates from the user intent, and (c) when a better path can be obtained from a different homotopy class. Further, we consider one user-generated replanning trigger that allows the user to stop the robot anytime to put the robot onto a new route. These four trigger variants seek to answer two fundamental critical questions: When is a re-planned path acceptable to a human? and How should a planner involve a human in replanning? |
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