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
Authors
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Canal Camprodon, Gerard
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Cashmore, MIchael
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Krivić, Senka
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Alenyà Ribas, Guillem
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Magazzeni, Daniele
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Torras Genís, Carme
Projects associated
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.
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