AAAI

Association for the Advancement of Artificial Intelligence

Home > Proceedings / Proceedings of the International Conference on Automated Planning and Scheduling, 25 > Book One

ROSPlan: Planning in the Robot Operating System

Authors

Michael Cashmore,Maria Fox,Derek Long,Daniele Magazzeni,Bram Ridder,Arnau Carrera,Narcis Palomeras,Natalia Hurtos,Marc Carreras

King's College London,King's College London,King's College London,King's College London,King's College London,University of Girona,University of Girona,University of Girona,University of Girona


Proceedings:

Book One

Volume

Issue:

Proceedings of the International Conference on Automated Planning and Scheduling, 25

Track:

Planning and Scheduling in Robotics

Downloads:

Download PDF

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 ROSP LAN 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.

DOI:

10.1609/icaps.v25i1.13699


ICAPS

Proceedings of the International Conference on Automated Planning and Scheduling, 25