An action interface manager for ROSPlan

Stefan-Octavian Bezrucav, Gerard Canal, Michael Cashmore, Burkhard Corves

Research output: Contribution to conferencePaperpeer-review

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.
Original languageEnglish
Number of pages9
Publication statusPublished - 4 Aug 2021
EventThe International Conference on Automated Planning and Scheduling 2021 - Virtual, Guangzhou, China
Duration: 2 Aug 202113 Aug 2021
https://icaps21.icaps-conference.org/home/

Conference

ConferenceThe International Conference on Automated Planning and Scheduling 2021
Abbreviated titleICAPS 2021
Country/TerritoryChina
CityGuangzhou
Period2/08/2113/08/21
Internet address

Keywords

  • interface manager
  • task planning
  • ROSPlan
  • GUI
  • automated planner

Fingerprint

Dive into the research topics of 'An action interface manager for ROSPlan'. Together they form a unique fingerprint.

Cite this