On-board Planning for Robotic Space Missions using Temporal PDDL

Amanda Jane Coles; Andrew Ian Coles; Moises Martinez Munoz; Okkes Emre Savas; Thomas Keller; Florian Pommerening; Malte Helmert

On-board Planning for Robotic Space Missions using Temporal PDDL

Amanda Jane Coles, Andrew Ian Coles, Moises Martinez Munoz, Okkes Emre Savas, Thomas Keller, Florian Pommerening, Malte Helmert

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

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Abstract

The desire for persistent autonomy in ambitious robotic space missions
has seen renewed interest in the use of on-board planning. This poses
particular challenges in terms of the limited computational power of
radiation-hardened hardware, and also the need to integrate with
functions external to the planner itself. In this paper, we discuss the
development of a forward-chaining temporal planner for use in this
setting. We present results illustrating its lightweight resource
footprint compared to contemporary planners, and its application to two
proposed robotic space scenarios.

Original language	English
Title of host publication	11th International Workshop on Planning and Scheduling for Space (IWPSS)
Publication status	Published - 8 Jul 2019

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ERGO_IWPSS_paper(1)Final published version, 1.33 MB

ADE: Autonomous Decision Making In Very Long Traverses
Coles, A. & Coles, A.
EC European Commission
1/02/2019 → 31/01/2021
Project: Research
European Robotic Goal-Oriented autonomous controller : ERGO
Coles, A., Coles, A. & Long, D.
EC European Commission
1/11/2016 → 31/01/2019
Project: Research

Cite this

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title = "On-board Planning for Robotic Space Missions using Temporal PDDL",

abstract = "The desire for persistent autonomy in ambitious robotic space missionshas seen renewed interest in the use of on-board planning. This posesparticular challenges in terms of the limited computational power ofradiation-hardened hardware, and also the need to integrate withfunctions external to the planner itself. In this paper, we discuss thedevelopment of a forward-chaining temporal planner for use in thissetting. We present results illustrating its lightweight resourcefootprint compared to contemporary planners, and its application to twoproposed robotic space scenarios. ",

author = "Coles, {Amanda Jane} and Coles, {Andrew Ian} and {Martinez Munoz}, Moises and Savas, {Okkes Emre} and Thomas Keller and Florian Pommerening and Malte Helmert",

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T1 - On-board Planning for Robotic Space Missions using Temporal PDDL

AU - Coles, Amanda Jane

AU - Coles, Andrew Ian

AU - Martinez Munoz, Moises

AU - Savas, Okkes Emre

AU - Keller, Thomas

AU - Pommerening, Florian

AU - Helmert, Malte

PY - 2019/7/8

Y1 - 2019/7/8

N2 - The desire for persistent autonomy in ambitious robotic space missionshas seen renewed interest in the use of on-board planning. This posesparticular challenges in terms of the limited computational power ofradiation-hardened hardware, and also the need to integrate withfunctions external to the planner itself. In this paper, we discuss thedevelopment of a forward-chaining temporal planner for use in thissetting. We present results illustrating its lightweight resourcefootprint compared to contemporary planners, and its application to twoproposed robotic space scenarios.

AB - The desire for persistent autonomy in ambitious robotic space missionshas seen renewed interest in the use of on-board planning. This posesparticular challenges in terms of the limited computational power ofradiation-hardened hardware, and also the need to integrate withfunctions external to the planner itself. In this paper, we discuss thedevelopment of a forward-chaining temporal planner for use in thissetting. We present results illustrating its lightweight resourcefootprint compared to contemporary planners, and its application to twoproposed robotic space scenarios.

M3 - Conference paper

BT - 11th International Workshop on Planning and Scheduling for Space (IWPSS)

ER -

On-board Planning for Robotic Space Missions using Temporal PDDL

Abstract

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Projects

ADE: Autonomous Decision Making In Very Long Traverses

European Robotic Goal-Oriented autonomous controller : ERGO

Cite this