Online planning satisfying constraints

A system comprising one or more computers and one or more storage devices storing instructions that when executed by one or more computers cause the one or more computers to perform respective operations, the operations comprising:

• receiving data representing a motion specification for performing a task by a robot in an environment, wherein the motion specification specifies a goal and one or more constraints associated with the goal for accomplishing the task;
• determining, using a first planner module, an initial motion plan for the robot based on the motion specification, wherein the initial motion plan specifies a trajectory that satisfies the one or more constraints of the motion specification;
• initiating execution of the initial motion plan by the robot;
• monitoring, using one or more sensors, sensor data for detecting a first change in the environment;
• generating, using a second planner module, a first updated motion plan for the robot based on the first change in the environment that satisfies the one or more constraints specified in the motion specification;
• and
• executing the first updated motion plan by the robot.

One or more non-transitory computer-readable storage media storing instructions that when executed by one or more computers cause the one or more computers to perform respective operations, the respective operations comprising:

• receiving data representing a motion specification for performing a task by a robot in an environment, wherein the motion specification specifies a goal and one or more constraints associated with the goal for accomplishing the task;
• determining, using a first planner module, an initial motion plan for the robot based on the motion specification, wherein the initial motion plan specifies a trajectory that satisfies the one or more constraints of the motion specification;
• initiating execution of the initial motion plan by the robot;
• monitoring, using one or more sensors, sensor data for detecting a first change in the environment;
• generating, using a second planner module, a first updated motion plan for the robot based on the first change in the environment that satisfies the one or more constraints specified in the motion specification;
• and
• executing the first updated motion plan by the robot.