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Integrating mission and task planning in an industrial robotics framework

Crosby, Matthew ; Petrick, Ronald P.A. ; Rovida, Francesco and Krüger, Volker LU (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:
author
; ; and
publishing date
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
2020-12-29 04:27:55
@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},
}