Rosplan : planning in the robot operating system

Cashmore, Michael and Fox, Maria and Long, Derek and Magazzeni, Daniele and Ridder, Bram and Carrera, Arnau and Palomeras, Narcis and Hurtós, Natalia and Carreras, Marc; Brafman, Ronen and Domshlak, Carmel and Haslum, Patrik and Zilberstein, Shlomo, eds. (2015) Rosplan : planning in the robot operating system. In: Proceedings International Conference on Automated Planning and Scheduling, ICAPS. AAAI Press, ISR, pp. 333-241. ISBN 9781577357315 (

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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 ROSPlan 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.


Cashmore, Michael ORCID logoORCID:, Fox, Maria, Long, Derek, Magazzeni, Daniele, Ridder, Bram, Carrera, Arnau, Palomeras, Narcis, Hurtós, Natalia and Carreras, Marc; Brafman, Ronen, Domshlak, Carmel, Haslum, Patrik and Zilberstein, Shlomo