01
Autonomous Stack
A representative autonomous system connects perception, state estimation, prediction, planning, control, and task execution.
sensing → perception → localization → planning → control → actuation
02
Task-Level Planning
Task planning reasons about actions at a higher level than geometric motion planning. For example, an indoor service robot may first decide to navigate to a kitchen, locate an object, grasp it, and deliver it before generating the precise trajectories required for each step.
03
Failure Recovery
- Detecting perception failures.
- Replanning when obstacles change.
- Handling localization loss.
- Stopping safely under uncertain conditions.
- Retrying recoverable actions.
- Escalating to human intervention when autonomous recovery is inappropriate.