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

58 Citations (Scopus)

Abstract

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.
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.
Pages333-241
Number of pages9
Volume2015-January
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

Conference

ConferenceTwenty-Fifth International Conference on International Conference on Automated Planning and Scheduling - ICAPS2015
Abbreviated titleICAPS2015
CountryIsrael
CityJerusalem
Period7/06/1511/06/15

Fingerprint

Robots
Planning
Robotics
Autonomous underwater vehicles
Costs

Keywords

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

Cite this

Cashmore, M., Fox, M., Long, D., Magazzeni, D., Ridder, B., Carrera, A., ... Carreras, M. (2015). Rosplan: planning in the robot operating system. In R. Brafman, C. Domshlak, P. Haslum, & S. Zilberstein (Eds.), Proceedings International Conference on Automated Planning and Scheduling, ICAPS (Vol. 2015-January, pp. 333-241). Palo Alto, CA..
Cashmore, Michael ; Fox, Maria ; Long, Derek ; Magazzeni, Daniele ; Ridder, Bram ; Carrera, Arnau ; Palomeras, Narcis ; Hurtós, Natalia ; Carreras, Marc. / Rosplan : planning in the robot operating system. Proceedings International Conference on Automated Planning and Scheduling, ICAPS. editor / Ronen Brafman ; Carmel Domshlak ; Patrik Haslum ; Shlomo Zilberstein. Vol. 2015-January Palo Alto, CA., 2015. pp. 333-241
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abstract = "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.",
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Cashmore, M, Fox, M, Long, D, Magazzeni, D, Ridder, B, Carrera, A, Palomeras, N, Hurtós, N & Carreras, M 2015, Rosplan: planning in the robot operating system. in R Brafman, C Domshlak, P Haslum & S Zilberstein (eds), Proceedings International Conference on Automated Planning and Scheduling, ICAPS. vol. 2015-January, Palo Alto, CA., pp. 333-241, Twenty-Fifth International Conference on International Conference on Automated Planning and Scheduling - ICAPS2015, Jerusalem, Israel, 7/06/15.

Rosplan : planning in the robot operating system. / Cashmore, Michael ; Fox, Maria ; Long, Derek ; Magazzeni, Daniele ; Ridder, Bram; Carrera, Arnau; Palomeras, Narcis; Hurtós, Natalia; Carreras, Marc.

Proceedings International Conference on Automated Planning and Scheduling, ICAPS. ed. / Ronen Brafman; Carmel Domshlak; Patrik Haslum; Shlomo Zilberstein. Vol. 2015-January Palo Alto, CA., 2015. p. 333-241.

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

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AU - Long, Derek

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AU - Carreras, Marc

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Cashmore M, Fox M, Long D, Magazzeni D, Ridder B, Carrera A et al. Rosplan: planning in the robot operating system. In Brafman R, Domshlak C, Haslum P, Zilberstein S, editors, Proceedings International Conference on Automated Planning and Scheduling, ICAPS. Vol. 2015-January. Palo Alto, CA. 2015. p. 333-241