Time-bounded planning with uncertain task duration distributions

Michal Staniaszek, Lara Brudermüller, Yang You, Raunak Bhattacharyya, Bruno Lacerda, Nick Hawes

Abstract: Highlights•Model robot task execution taking into account uncertainty over action durations.•Duration uncertainty defined by context of a task, such as dirtiness of floor.•Accounting for context allows decision-maker to adapt to observations of context.•Scaling of model achieved by specifying ordering of locations to visit.•Extensive evaluation in simulation and on robot in representative environment.