{"id":"https://openalex.org/W4387677985","doi":"https://doi.org/10.1109/icac57885.2023.10275162","title":"Online Hierarchical Conformance Refinement Planning for Autonomous Robots","display_name":"Online Hierarchical Conformance Refinement Planning for Autonomous Robots","publication_year":2023,"publication_date":"2023-08-30","ids":{"openalex":"https://openalex.org/W4387677985","doi":"https://doi.org/10.1109/icac57885.2023.10275162"},"language":"en","primary_location":{"id":"doi:10.1109/icac57885.2023.10275162","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icac57885.2023.10275162","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 28th International Conference on Automation and Computing (ICAC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093071723","display_name":"Oliver Michael Kamperis","orcid":null},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Oliver Michael Kamperis","raw_affiliation_strings":["University of Birmingham,Dept. of Computer Science,Birmingham,UK,B15 2TT"],"affiliations":[{"raw_affiliation_string":"University of Birmingham,Dept. of Computer Science,Birmingham,UK,B15 2TT","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058814232","display_name":"Yongjing Wang","orcid":"https://orcid.org/0000-0002-9640-0871"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yongjing Wang","raw_affiliation_strings":["University of Birmingham,Dept. of Mechanical Engineering,Birmingham,UK,B15 2TT"],"affiliations":[{"raw_affiliation_string":"University of Birmingham,Dept. of Mechanical Engineering,Birmingham,UK,B15 2TT","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079759495","display_name":"Marco Castellani","orcid":"https://orcid.org/0000-0002-5623-7491"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Marco Castellani","raw_affiliation_strings":["University of Birmingham,Dept. of Mechanical Engineering,Birmingham,UK,B15 2TT"],"affiliations":[{"raw_affiliation_string":"University of Birmingham,Dept. of Mechanical Engineering,Birmingham,UK,B15 2TT","institution_ids":["https://openalex.org/I79619799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5093071723"],"corresponding_institution_ids":["https://openalex.org/I79619799"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1381685,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7609105110168457},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.5767033100128174},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5481066703796387},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5302959084510803},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.47178906202316284},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.46137842535972595},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3747927248477936},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34225994348526},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1532275378704071},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09371516108512878}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7609105110168457},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.5767033100128174},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5481066703796387},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5302959084510803},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.47178906202316284},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.46137842535972595},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3747927248477936},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34225994348526},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1532275378704071},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09371516108512878},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icac57885.2023.10275162","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icac57885.2023.10275162","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 28th International Conference on Automation and Computing (ICAC)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/0bc69bbc-0f0d-443b-994e-16484abc3888","is_oa":false,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/0bc69bbc-0f0d-443b-994e-16484abc3888","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Kamperis, O M, Wang, Y & Castellani, M 2023, Online Hierarchical Conformance Refinement Planning for Autonomous Robots. in 2023 28th International Conference on Automation and Computing (ICAC)., 10275162, International Conference on Automation and Computing (ICAC), Institute of Electrical and Electronics Engineers (IEEE), 28th International Conference on Automation and Computing, ICAC 2023, Birmingham, United Kingdom, 30/08/23. https://doi.org/10.1109/ICAC57885.2023.10275162","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6000000238418579}],"awards":[{"id":"https://openalex.org/G3816205552","display_name":null,"funder_award_id":"EP/W00206X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1488497869","https://openalex.org/W1575990843","https://openalex.org/W1590703320","https://openalex.org/W1672891595","https://openalex.org/W1969483458","https://openalex.org/W1981627423","https://openalex.org/W2019310097","https://openalex.org/W2054497239","https://openalex.org/W2061146398","https://openalex.org/W2070878381","https://openalex.org/W2078727257","https://openalex.org/W2122054842","https://openalex.org/W2170655684","https://openalex.org/W2408744163","https://openalex.org/W2807620773","https://openalex.org/W2912694244","https://openalex.org/W2963140518","https://openalex.org/W3155306957","https://openalex.org/W6634479986","https://openalex.org/W6635485855","https://openalex.org/W6684906258"],"related_works":["https://openalex.org/W2072180474","https://openalex.org/W1960052459","https://openalex.org/W8302103","https://openalex.org/W2375707231","https://openalex.org/W2307385607","https://openalex.org/W2524555411","https://openalex.org/W3209137209","https://openalex.org/W2479449183","https://openalex.org/W3171631314","https://openalex.org/W2674584172"],"abstract_inverted_index":{"Planning":[0],"is":[1,42],"a":[2,26,120],"fundamental":[3],"reasoning":[4,73],"ability":[5],"required":[6],"by":[7,62,160,170,184],"any":[8],"general-purpose":[9],"autonomous":[10],"robot":[11],"that":[12,153],"will":[13],"be":[14,107],"deployed":[15],"into":[16],"real-world":[17],"domains.":[18],"This":[19,123],"paper":[20],"presents":[21],"our":[22,194],"ongoing":[23],"work":[24],"towards":[25],"novel":[27],"domain-independent":[28],"planning":[29,43,59,130,155,158],"paradigm,":[30],"called":[31],"Hierarchical":[32],"Conformance":[33],"Refinement":[34],"(HCR),":[35],"capable":[36],"of":[37,56,83,91,135,147],"rapid":[38],"online":[39],"partial-planning":[40],"(that":[41],"partly":[44],"interleaved":[45],"with":[46,88,102],"execution),":[47],"which":[48],"aims":[49],"to":[50,106,163,172,186,196],"maximize":[51],"productivity":[52],"and":[53,74,99,110,115,128,166],"minimize":[54],"down-times":[55],"robots.":[57],"HCR":[58,154],"achieves":[60],"this":[61],"employing":[63],"two":[64],"core":[65],"concepts":[66],"involved":[67],"in":[68,119,138],"human":[69],"decision":[70],"making;":[71],"abstract":[72],"problem":[75],"decomposition.":[76],"Our":[77],"approach":[78],"combines":[79],"the":[80,89,133,148,189],"expressive":[81],"power":[82],"Answer":[84],"Set":[85],"Programming":[86],"(ASP)":[87],"speed":[90],"hierarchical":[92],"refinement":[93],"planning.":[94],"Together,":[95],"these":[96],"allow":[97],"large":[98],"complex":[100],"problems":[101,198],"long":[103],"plan":[104,139],"lengths,":[105],"broken":[108],"down":[109],"solved":[111],"as":[112],"many":[113],"smaller":[114],"more":[116],"manageable":[117],"partial-problems,":[118],"general":[121],"way.":[122],"exponentially":[124],"reduces":[125],"execution":[126,167],"latency":[127,168],"total":[129],"times,":[131],"for":[132],"trade-off":[134],"small":[136],"losses":[137],"quality.":[140],"Simulated":[141],"experiments":[142],"ran":[143],"on":[144],"an":[145],"extension":[146],"blocks":[149],"world":[150],"domain":[151],"show":[152],"reduced":[156],"overall":[157],"time":[159,169],"between":[161],"43.8":[162],"97.6":[164],"%,":[165],"87.1":[171],"98.7%,":[173],"over":[174,188],"classical":[175],"ASP":[176],"based":[177],"planning,":[178],"but":[179],"could":[180],"increase":[181],"plans":[182],"lengths":[183],"0.0":[185],"9.0%":[187],"minimum":[190],"possible":[191],"length,":[192],"from":[193],"easiest":[195],"hardest":[197],"tested.":[199]},"counts_by_year":[],"updated_date":"2026-03-04T09:10:02.777135","created_date":"2025-10-10T00:00:00"}