Using Perception Information For Robot Planning and Execution

Adaptive Robotics

We present RoGuE, an integrated planning and executing robotic agent. ROGUE is designed to be a roving office gopher, doing tasks such as picking up and delivering mail and returning ~ picking up library books, in a setup where users can post tasks for the robot to do. We have been working towards the goal of building ROGUE as a completely autonomous agent which can learn from its experiences improving its own behaviour. In this paper, we focus on describing ROGUE’s capabilities in executing and processing perception information, including: (1) the generation and execution a plan which requires observation to make informed planning decisions, and (2) the monitoring execution for informed replanning. RoGuE is implemented and functional on a real indoor robot.