Integrating mission and task planning in an industrial robotics framework
(2017) 27th International Conference on Automated Planning and Scheduling, ICAPS 2017 p.471-479- Abstract
This paper presents a framework developed for an industrial robotics system that utilises two different planning components. At a high level, a multi-robot mission planner interfaces with a fleet and environment manager and uses multiagent planning techniques to build mission assignments to be distributed to a robot fleet. On each robot, a task planner automatically converts the robot's world model and skill definitions into a planning problem which is then solved to find a sequence of actions that the robot should perform to complete its mission. This framework is demonstrated on an industrial kitting task in a real-world factory environment.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/714e3b13-e7e0-4443-902b-fc294a3b6e90
- author
- Crosby, Matthew ; Petrick, Ronald P.A. ; Rovida, Francesco and Krüger, Volker LU
- publishing date
- 2017-01-01
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proceedings of the 27th International Conference on Automated Planning and Scheduling, ICAPS 2017
- editor
- Barbulescu, Laura ; Smith, Stephen F. ; Mausam, LauraStephen F.Jeremy D. and Frank, Jeremy D.
- pages
- 9 pages
- publisher
- AAAI Press
- conference name
- 27th International Conference on Automated Planning and Scheduling, ICAPS 2017
- conference location
- Pittsburgh, United States
- conference dates
- 2017-06-18 - 2017-06-23
- external identifiers
-
- scopus:85030559264
- ISBN
- 9781577357896
- language
- English
- LU publication?
- no
- id
- 714e3b13-e7e0-4443-902b-fc294a3b6e90
- alternative location
- https://www.aaai.org/ocs/index.php/ICAPS/ICAPS17/paper/view/15715/15138
- date added to LUP
- 2019-06-28 09:15:57
- date last changed
- 2022-04-26 02:38:34
@inproceedings{714e3b13-e7e0-4443-902b-fc294a3b6e90, abstract = {{<p>This paper presents a framework developed for an industrial robotics system that utilises two different planning components. At a high level, a multi-robot mission planner interfaces with a fleet and environment manager and uses multiagent planning techniques to build mission assignments to be distributed to a robot fleet. On each robot, a task planner automatically converts the robot's world model and skill definitions into a planning problem which is then solved to find a sequence of actions that the robot should perform to complete its mission. This framework is demonstrated on an industrial kitting task in a real-world factory environment.</p>}}, author = {{Crosby, Matthew and Petrick, Ronald P.A. and Rovida, Francesco and Krüger, Volker}}, booktitle = {{Proceedings of the 27th International Conference on Automated Planning and Scheduling, ICAPS 2017}}, editor = {{Barbulescu, Laura and Smith, Stephen F. and Mausam, LauraStephen F.Jeremy D. and Frank, Jeremy D.}}, isbn = {{9781577357896}}, language = {{eng}}, month = {{01}}, pages = {{471--479}}, publisher = {{AAAI Press}}, title = {{Integrating mission and task planning in an industrial robotics framework}}, url = {{https://www.aaai.org/ocs/index.php/ICAPS/ICAPS17/paper/view/15715/15138}}, year = {{2017}}, }