Local replanning of robot movements

Abstract

Systems, methods, devices, and other techniques for planning and re-planning robot motions. The techniques can include obtaining a schedule that defines an execution order for a plurality of plans, each plan defining a sequence of tasks; providing instructions to the robotic system to execute plans from the plurality of plans according to the schedule; obtaining measurements for one or more parameters that represent a state of the robotic system or its environment that results from execution of at least one plan from the plurality of plans; determining, based on the measurements, that a particular plan from the plurality of plans, which has not completed execution, is to be revised; generating, using the measurements, a revised version of the particular plan; and adjusting the schedule so as to resolve a conflict between the revised version of the particular plan and at least one other plan in the plurality of plans.

1 - 20 . (canceled) 
     
     
         21 . A computer-implemented method, comprising:
 obtaining a schedule having a first plan and a second plan, each plan defining a sequence of tasks to be executed by a robotic system;   obtaining sensor input representing a state of the robotic system during execution of the first plan;   determining, based on the sensor input, that the first plan requires an adjustment;   in response, generating an adjusted first plan;   determining that the adjusted first plan conflicts with the second plan; and   in response to determining that the adjusted first plan conflicts with a second plan, providing instructions to the robotic system to resume execution using the adjusted first plan and to execute the second plan after the adjusted first plan has completed.   
     
     
         22 . The method of  claim 21 , further comprising adding a dependency between the adjusted first plan and the second plan in a schedule of plans. 
     
     
         23 . The method of  claim 21 , wherein generating the adjusted first plan comprises adding one or more additional tasks to the first plan. 
     
     
         24 . The method of  claim 23 , wherein providing instructions to the robotic system comprises providing instructions to execute the second plan only after the one or more additional tasks have been executed. 
     
     
         25 . The method of  claim 21 , wherein the sensor input represents a quantity of an item required to perform the first plan. 
     
     
         26 . The method of  claim 25 , wherein the adjusted first plan includes a task to obtain additional items required to perform the first plan. 
     
     
         27 . The method of  claim 21 , wherein determining that the adjusted first plan conflicts with the second plan comprises determining that the adjusted first plan and the second plan would compete for a common resource. 
     
     
         28 . The method of  claim 27 , wherein the common resource is a workspace volume, a tool, or fuel. 
     
     
         29 . The method of  claim 21 , wherein obtaining sensor input comprises obtaining sensor input at a speculation point in the first plan, and
 wherein resuming execution using the adjusted first plan comprises resuming execution from the speculation point.   
     
     
         30 . A system comprising:
 one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:   obtaining a schedule having a first plan and a second plan, each plan defining a sequence of tasks to be executed by a robotic system;   obtaining sensor input representing a state of the robotic system during execution of the first plan;   determining, based on the sensor input, that the first plan requires an adjustment;   in response, generating an adjusted first plan;   determining that the adjusted first plan conflicts with the second plan; and   in response to determining that the adjusted first plan conflicts with a second plan, providing instructions to the robotic system to resume execution using the adjusted first plan and to execute the second plan after the adjusted first plan has completed.   
     
     
         31 . The system of  claim 30 , wherein the operations further comprise adding a dependency between the adjusted first plan and the second plan in a schedule of plans. 
     
     
         32 . The system of  claim 30 , wherein generating the adjusted first plan comprises adding one or more additional tasks to the first plan. 
     
     
         33 . The system of  claim 32 , wherein providing instructions to the robotic system comprises providing instructions to execute the second plan only after the one or more additional tasks have been executed. 
     
     
         34 . The system of  claim 30 , wherein the sensor input represents a quantity of an item required to perform the first plan. 
     
     
         35 . The system of  claim 34 , wherein the adjusted first plan includes a task to obtain additional items required to perform the first plan. 
     
     
         36 . The system of  claim 30 , wherein determining that the adjusted first plan conflicts with the second plan comprises determining that the adjusted first plan and the second plan would compete for a common resource. 
     
     
         37 . The system of  claim 36 , wherein the common resource is a workspace volume, a tool, or fuel. 
     
     
         38 . The system of  claim 30 , wherein obtaining sensor input comprises obtaining sensor input at a speculation point in the first plan, and
 wherein resuming execution using the adjusted first plan comprises resuming execution from the speculation point.   
     
     
         39 . One or more non-transitory computer storage media encoded with computer program instructions that when executed by one or more computers cause the one or more computers to perform operations comprising:
 obtaining a schedule having a first plan and a second plan, each plan defining a sequence of tasks to be executed by a robotic system;   obtaining sensor input representing a state of the robotic system during execution of the first plan;   determining, based on the sensor input, that the first plan requires an adjustment;   in response, generating an adjusted first plan;   determining that the adjusted first plan conflicts with the second plan; and   in response to determining that the adjusted first plan conflicts with a second plan, providing instructions to the robotic system to resume execution using the adjusted first plan and to execute the second plan after the adjusted first plan has completed.   
     
     
         40 . The one or more computer storage media of  claim 39 , wherein the operations further comprise adding a dependency between the adjusted first plan and the second plan in a schedule of plans.