ROSPlan: Planning in the Robot Operating System
By Michael Cashmore, Maria Fox, Derek Long, Daniele Magazzeni, Bram Ridder, Arnau Carrera, Narcís Palomeras, Natàlia Hurtós, M. Carreras. 2015
338 citations recorded by the source corpus.
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.
Subfields: Artificial Intelligence, Information Systems, Mechanical Engineering
How researchers see this paper
The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.
In Artificial Intelligence
- Derek Long
- Maria Fox
- Daniele Magazzeni
- Been Kim
- Subbarao Kambhampati
- Sarath Sreedharan
- Richard Howey
- Longo Luca
In Mechanical Engineering
Citations in the corpus
- Explainable Planning (2017, methodology): “In the PANDORA project, the plans are generated and dispatched through the ROSPlan framework [Cashmore et al., 2015] which is also used to monitor plan execution.”