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ROSPlan: Planning in the Robot Operating System

Comunicació de congrés presentada a: International Conference on Automated Planning and Scheduling (25th: 7-11 Juny 2015: Jerusalen, Israel), Session 2b: Robotics II

The Robot Operating System (ROS) is a set of software libraries and tools used to build robotic systems. ROS is known for a distributed and modular design. Given a model of the environment, task planning is concerned with the assembly of actions into a structure that is predicted to achieve goals. This can be done in a way that minimises costs, such as time or energy. Task planning is vital in directing the actions of a robotic agent in domains where a causal chain could lock the agent into a dead-end state. Moreover, planning can be used in less constrained domains to provide more intelligent behaviour. This paper describes the ROSPLAN framework, an architecture for embedding task planning into ROS systems. We provide a description of the architecture and a case study in autonomous robotics. Our case study involves autonomous underwater vehicles in scenarios that demonstrate the flexibility and robustness of our approach

Association for the Advancement of Artificial Intelligence

Autor: Cashmore, Michael
Fox, Maria
Long, Derek
Magazzeni, Daniele
Ridder, Bram
Carrera Viñas, Arnau
Palomeras Rovira, Narcís
Hurtós Vilarnau, Natàlia
Carreras Pérez, Marc
Data: 15 febrer 2020
Resum: Comunicació de congrés presentada a: International Conference on Automated Planning and Scheduling (25th: 7-11 Juny 2015: Jerusalen, Israel), Session 2b: Robotics II
The Robot Operating System (ROS) is a set of software libraries and tools used to build robotic systems. ROS is known for a distributed and modular design. Given a model of the environment, task planning is concerned with the assembly of actions into a structure that is predicted to achieve goals. This can be done in a way that minimises costs, such as time or energy. Task planning is vital in directing the actions of a robotic agent in domains where a causal chain could lock the agent into a dead-end state. Moreover, planning can be used in less constrained domains to provide more intelligent behaviour. This paper describes the ROSPLAN framework, an architecture for embedding task planning into ROS systems. We provide a description of the architecture and a case study in autonomous robotics. Our case study involves autonomous underwater vehicles in scenarios that demonstrate the flexibility and robustness of our approach
Accés al document: http://hdl.handle.net/2072/372525
Llenguatge: eng
Editor: Association for the Advancement of Artificial Intelligence
Drets: Tots els drets reservats
Matèria: Robots autònoms
Autonomous robots
Vehicles submergibles
Submersibles
Robots mòbils
Mobile robots
Robots -- Programació
Robots -- Programming
Robots -- Sistemes de control
Robots -- Control Systems
Títol: ROSPlan: Planning in the Robot Operating System
Tipus: info:eu-repo/semantics/conferenceObject
Repositori: Recercat

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