Patent attributes
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing robot planning using a process definition graph. One of the methods includes receiving an initial underconstrained process definition graph for one or more robots, wherein the process definition graph is a directed acyclic graph having constraint nodes and action nodes. A plurality of transformers are repeatedly applied to the initial process definition graph, wherein each application of a transformer generates a respective modified process definition graph according to the constraint nodes of the process definition graph, wherein applying the plurality of transformers generates a schedule that specifies which of the one or more robots are to perform which of one or more actions represented by actions nodes according to constraints imposed by the constraint nodes in the process definition graph.
