# Learning and Planning Based on Merged Experience from Multiple Situations for a Service Robot
## 2 Learning and Planning Methods
### Planning Based on Activity Schema with Merging Optimization and Partially Backtracking Techniques
#### 2.4.1 Planning Based on Activity Schema with Merging Optimization
The generalization performance remains to be improved. The efficiency of replanning is still relatively low even with partial backtracking, and certain issues still remain in terms of real-time replanning. One possible idea is to retain a few invalid supplement plans that can be switched to valid plans with minimal environmental change by designing an alternative layer in the planner [27]. [PERSON] proposed the idea of the paper; [PERSON] and [PERSON] conceived and designed the experiments. [PERSON] performed the experiments. [PERSON], [PERSON] and [PERSON] analyzed the data and wrote the paper. All authors have read and approved the final manuscript. This work is financially supported by Shenzhen Key Laboratory Project (Grant No. ZDSYS2017072 71637577), in part by Shenzhen Peacock Plan (Grant No. KQTD2016113010571019) and Shenzhen Fundamental Research Funds (Grant Nos. JCYJ20160608153218487, JCYJ20160229202315086 and JCYJ20170413104438332). The authors declare no conflicts of interest. ## References

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