An action interface manager for ROSPlan

Bezrucav, Stefan-Octavian and Canal, Gerard and Cashmore, Michael and Corves, Burkhard (2021) An action interface manager for ROSPlan. In: The International Conference on Automated Planning and Scheduling 2021, 2021-08-02 - 2021-08-13, Virtual.

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Abstract

Task planning and task execution are two high-level robot control modules that often are working with representations of the scenario at different levels of abstraction. Thus, a further mapping module is required to connect the abstract planned actions to the robot-specific algorithms that must be called in order to execute these actions. We present a novel implementation of such a module that allows a user to define this mapping for all actions through a single configuration file. This greatly reduces the amount of effort that is required to integrate an automated planner with a robotic platform. This module has been integrated as an Action Interface of the automated task planning framework ROSPlan, and includes a Graphical User Interface though which the configuration file can be easily generated and updated. The use of the interface is demonstrated in two scenarios: with robot actors possessing only a single action, and a more complex scenario with multiple agents and types of actions.

ORCID iDs

Bezrucav, Stefan-Octavian, Canal, Gerard, Cashmore, Michael ORCID logoORCID: https://orcid.org/0000-0002-8334-4348 and Corves, Burkhard;
  • Item type:Conference or Workshop Item(Paper)
    ID code:77305
    Dates:
    Date
    Event
    4 August 2021
    Published
    30 June 2021
    Accepted
    Notes:9th ICAPS Workshop on Planning and Robotics
    Keywords:interface manager, task planning, ROSPlan, GUI, automated planner, Electronic computers. Computer science, Computer Science(all)
    Subjects:Science > Mathematics > Electronic computers. Computer science
    Department:Faculty of Science > Computer and Information Sciences
    Depositing user: Pure Administrator
    Date deposited:05 Aug 2021 10:14
    Last modified:28 May 2023 01:25
    URI:https://strathprints.strath.ac.uk/id/eprint/77305
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