Paper Info
Title
Integrating planning and execution for ROS enabled service robots using hierarchical action representations
Abstract
The aim of the RoboEarth project is to develop a globally accessible database, that enables service robots to share reusable information relevant to the execution of their daily tasks. Examples of this information are the hierarchical task descriptions, or action recipes, that represent typical household tasks as symbolic action sequences. By annotating these static action representations with hierarchical planner predicates, they can be interpreted by a Hierarchical Task Network planner such as SHOP2 to compose optimized robot plans in a flexible manner, based on the actual state of the environment and the available capabilities of the robot. To subsequently execute these plans in a household environment, the CRAM executive toolbox is adopted, allowing a tight integration between plan execution and the run-time inference of dynamically updated environment knowledge. This paper presents the integration of these two planning and execution components into one cohesive framework, tailored for the safe execution of abstract tasks in challenging household environments. The resulting framework is implemented on the AMIGO service robot and a basic experiment is conducted to demonstrate the frameworks integral functionality.
Year
DOI
Venue
2013
10.1109/ICAR.2013.6766556
ICAR
Keywords
Field
DocType
control engineering computing,humanoid robots,path planning,service robots,amigo service robot,cram executive toolbox,ros,roboearth project,shop2,cognitive robot abstract machine,globally accessible database,hierarchical action representation,hierarchical planner predicate,hierarchical task description,hierarchical task network planner,household task,static action representation,symbolic action sequences
Motion planning,Hierarchical task network,Computer science,Inference,Toolbox,Planner,Human–computer interaction,Atmospheric sciences,Artificial intelligence,Robot,Humanoid robot,Service robot
Conference
Citations 
PageRank 
References 
0
0.34
17
Authors
5
Name
Order
Citations
PageRank
Rob Janssen151.16
erik van meijl200.34
d di marco350.84
René van de Molengraft419423.48
Maarten Steinbuch565896.53