Publication

Probabilistic planning for robotics with ROSPlan

Conference Article

Conference

Annual Conference Towards Autonomous Robotic Systems Conference (TAROS)

Edition

2019

Pages

236-250

Doc link

http://dx.doi.org/10.1007/978-3-030-23807-0_20

File

Download the digital copy of the doc pdf document

Abstract

Probabilistic planning is very useful for handling uncertainty in planning tasks to be carried out by robots. ROSPlan is a framework for task planning in the Robot Operating System (ROS), but until now it has not been possible to use probabilistic planners within the framework. This systems paper presents a standardized integration of probabilistic planners into ROSPlan that allows for reasoning with non-deterministic effects and is agnostic to the probabilistic planner used. We instantiate the framework in a system for the case of a mobile robot performing tasks indoors, where probabilistic plans are generated and executed by the PROST planner. We evaluate the effectiveness of the proposed approach in a real-world robotic scenario.

Categories

intelligent robots, service robots.

Author keywords

probabilistic planning, planning for robotics, rosplan

Scientific reference

G. Canal, M. Cashmore, S. Krivić, G. Alenyà, D. Magazzeni and C. Torras. Probabilistic planning for robotics with ROSPlan, 2019 Annual Conference Towards Autonomous Robotic Systems Conference, 2019, London, in Towards Autonomous Robotic Systems, Vol 11649 of Lecture Notes in Computer Science, pp. 236-250, 2019, Springer.