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 proceedingConference paperpeer-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 languageEnglish
Title of host publication11th International Workshop on Planning and Scheduling for Space (IWPSS)
Publication statusPublished - 8 Jul 2019

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