Name
Abstract | ||
|---|---|---|
Most of the robotic systems are designed to move and perform tasks in a variety of environments. Some of these environments are controllable and well-defined, and the tasks to be performed are generally everyday ones. However, exploration missions also enclose hard constraints such as driving vehicles to many locations in a surface of several kilometres to collect and/or analyse interesting samples. Therefore, a critical aspect for the mission is to optimally (or sub-optimally) plan the path that a robot should follow while performing scientific tasks. In this paper, we present up2ta, a new AI planner that interleaves path-planning and task-planning for mobile robotics applications. The planner is the result of integrating a modified PDDL planner with a path-planning algorithm, combining domain-independent heuristics and a domain-specific heuristic for path-planning. Then, up2ta can exploit capabilities of both planners to generate shorter paths while performing scientific tasks in an efficient ordered way. The planner has been tested in two domains: an exploration mission consisting of pictures acquisition, and a more challenging one that includes samples delivering. Also, up2ta has been integrated and tested in a real robotic platform for both domains. A planner for mobile robotics applications is proposed.Integrating task-planning and path-planning provides several advantages.Using specific and domain independent heuristics improves the solutions generated. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1016/j.robot.2016.04.010 | Robotics and Autonomous Systems |
Keywords | Field | DocType |
Task-planning,Path-planning,Autonomy,Robot control architectures | Motion planning,Heuristic,Computer science,Simulation,Planner,Exploit,Heuristics,Artificial intelligence,Robot,Robotics,Planning Domain Definition Language | Journal |
Volume | Issue | ISSN |
82 | C | 0921-8890 |
Citations | PageRank | References |
5 | 0.41 | 18 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Pablo Munoz | 1 | 23 | 5.49 |
| María D. R-Moreno | 2 | 97 | 15.22 |
| David F. Barrero | 3 | 120 | 17.17 |