@inproceedings{83f5cbf3ef394a2186e9338ddc774545,
title = "Probabilistic planning for robotics with ROSPlan",
abstract = "Probabilistic planning is very useful for handling uncertainty in planning tasks to be carried out by robots. ROSPlan is a framework for task planning in the Robot Operating System (ROS), but until now it has not been possible to use probabilistic planners within the framework. This systems paper presents a standardized integration of probabilistic planners into ROSPlan that allows for reasoning with non-deterministic effects and is agnostic to the probabilistic planner used. We instantiate the framework in a system for the case of a mobile robot performing tasks indoors, where probabilistic plans are generated and executed by the PROST planner. We evaluate the effectiveness of the proposed approach in a real-world robotic scenario.",
keywords = "probabilistic planning, ROSPlan, robotics, task planning",
author = "Gerard Canal and Michael Cashmore and Senka Krivic and Guillem Aleny{\`a} and Daniele Magazzeni and Carme Torras",
year = "2019",
month = jun,
day = "28",
doi = "10.1007/978-3-030-23807-0_20",
language = "English",
isbn = "9783030238063",
volume = "11649",
series = "Lecture Notes in Computer Science",
publisher = "Springer",
pages = "236--250",
editor = "Althoefer, {Kaspar } and Konstantinova, {Jelizaveta } and Zhang, {Ketao }",
booktitle = "Annual Conference Towards Autonomous Robotic Systems Conference (TAROS)",
note = "The 20th Towards Autonomous Robotic Systems Conference (TAROS 2019), TAROS 2019 ; Conference date: 03-07-2019 Through 05-07-2019",
}