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Integrating Classical Planning and Real Robots in Industrial and Service Robotics Domains

  • In this paper we propose an architecture to integrate classical planning and real autonomous mobile robots. We start by providing with a high level description of all necessary components to set the goals, generate plans and execute them on real robots and monitor the outcome of their actions. At the core of our method and to deal with execution issues we code the agent actions with automatas. We prove the flexibility of the system by testing on two different domains: industrial (Basic Transportation Test) and domestic (General Purpose Service Robot) in the context of the international RoboCup competition. Additionally we benchmark the scalability of the planning system in two domains on a set of planning problems with increasing complexity. The proposed framework is open source1 and can be easily extended.

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Document Type:Conference Object
Author:Oscar Lima, Rodrigo Ventura, Iman Awaad
Parent Title (English):Finzi, Karpas et al. (Eds.): Proceedings of the 6th Workshop on Planning and Robotics (PlanRob 2018). 28th International Conference on Automated Planning and Scheduling, June 24-29, 2018, Delft, the Netherlands
First Page:75
Last Page:81
Publication year:2018
Departments, institutes and facilities:Fachbereich Informatik
Dewey Decimal Classification (DDC):0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Entry in this database:2018/10/24