Plan generation in robotics. State of the art and perspectives

In this paper we have endeavored to present the state of the art of Automatic Plan Generation, with special emphasis on its application to Robotics, as well as some personal perspectives on the topics covered. Thus, we begin by presenting a panoramic view of the first attempts at plan generation, but as yet, not connected with robotics. Further, a survey was made of the main problems to be met when it is intended to plan for a real executor in a real world. Next, the case of distributed robotic systems and its implications on plan generation is examined. The question of time and its explicit representation is also looked upon. Finally, a view on learning and specialized plan generators is also given.