Rosplan: planning in the robot operating system

Michael Cashmore, Maria Fox, Derek Long, Daniele Magazzeni, Bram Ridder, Arnau Carrera, Narcis Palomeras, Natalia Hurtós, Marc Carreras

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

122 Citations (Scopus)
41 Downloads (Pure)


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.
Original languageEnglish
Title of host publicationProceedings International Conference on Automated Planning and Scheduling, ICAPS
EditorsRonen Brafman, Carmel Domshlak, Patrik Haslum, Shlomo Zilberstein
Place of PublicationPalo Alto, CA.
Number of pages9
Publication statusPublished - 7 Jun 2015
EventTwenty-Fifth International Conference on International Conference on Automated Planning and Scheduling - ICAPS2015 - Jerusalem, Israel
Duration: 7 Jun 201511 Jun 2015


ConferenceTwenty-Fifth International Conference on International Conference on Automated Planning and Scheduling - ICAPS2015
Abbreviated titleICAPS2015


  • robot operating system (ROS)
  • autonomous robotics
  • robot agents
  • contingency planning


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