Abstract
One of the current topics of research in robotics is activity planning. Most works in this field are related to artificial intelligence (AI) techniques. The main feature of robot planning systems is that they are focused on the particular robot problem or are intended to solve a particular aspect of the planning problem. For this last case, motion planning or task planning are solved in an independent way. This paper covers robot activity planning and re-planning, from the high-level activity description to the final trajectory of the robot. Problem decomposition and abstraction are applied to obtain a robot plan; deduction and prediction are used for on-line trajectory re-planning. Temporal reasoning enables the obtention of velocity tuning for a trajectory.
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