Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | Proceedings International Conference on Automated Planning and Scheduling, ICAPS |
| Publisher | AAAI Press |
| Pages | 333-341 |
| Number of pages | 9 |
| Volume | 2015-January |
| ISBN (Print) | 9781577357315 |
| Publication status | Published - 2015 |
| Event | 25th International Conference on Automated Planning and Scheduling, ICAPS 2015 - Jerusalem, Israel Duration: 7 Jun 2015 → 11 Jun 2015 |
Conference
| Conference | 25th International Conference on Automated Planning and Scheduling, ICAPS 2015 |
|---|---|
| Country/Territory | Israel |
| City | Jerusalem |
| Period | 7/06/2015 → 11/06/2015 |