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SkiROS—A skill-based robot control platform on top of ROS

Rovida, Francesco ; Crosby, Matthew ; Holz, Dirk ; Polydoros, Athanasios S. ; Großmann, Bjarne ; Petrick, Ronald P.A. and Krueger, Volker LU (2017) In Studies in Computational Intelligence 707. p.121-160
Abstract
The development of cognitive robots in ROS still lacks the support of some key components: a knowledge integration framework and a framework for autonomous mission execution. In this research chapter, we will discuss our skill-based platform SkiROS, that was developed on top of ROS in order to organize robot knowledge and its behavior. We will show how SkiROS offers the possibility to integrate different functionalities in form of skill ‘apps’ and how SkiROS offers services for integrating these skill-apps into a consistent workspace. Furthermore, we will show how these skill-apps can be automatically executed based on autonomous, goal-directed task planning. SkiROS helps the developers to program and port their high-level code over a... (More)
The development of cognitive robots in ROS still lacks the support of some key components: a knowledge integration framework and a framework for autonomous mission execution. In this research chapter, we will discuss our skill-based platform SkiROS, that was developed on top of ROS in order to organize robot knowledge and its behavior. We will show how SkiROS offers the possibility to integrate different functionalities in form of skill ‘apps’ and how SkiROS offers services for integrating these skill-apps into a consistent workspace. Furthermore, we will show how these skill-apps can be automatically executed based on autonomous, goal-directed task planning. SkiROS helps the developers to program and port their high-level code over a heterogeneous range of robots, meanwhile the minimal Graphical User Interface (GUI) allows non-expert users to start and supervise the execution. As an application example, we present how SkiROS was used to vertically integrate a robot into the manufacturing system of PSA Peugeot-Citroën. We will discuss the characteristics of the SkiROS architecture which makes it not limited to the automotive industry but flexible enough to be used in other application areas as well. SkiROS has been developed on Ubuntu 14.04 LTS and ROS indigo and it can be downloaded at https://github.com/frovida/skiros. A demonstration video is also available at https://youtu.be/mo7UbwXW5W0. (Less)
Abstract (Swedish)
The development of cognitive robots in ROS still lacks the support of some key components: a knowledge integration framework and a framework for autonomous mission execution. In this research chapter, we will discuss our skill-based platform SkiROS, that was developed on top of ROS in order to organize robot knowledge and its behavior. We will show how SkiROS offers the possibility to integrate different functionalities in form of skill ‘apps’ and how SkiROS offers services for integrating these skill-apps into a consistent workspace. Furthermore, we will show how these skill-apps can be automatically executed based on autonomous, goal-directed task planning. SkiROS helps the developers to program and port their high-level code over a... (More)
The development of cognitive robots in ROS still lacks the support of some key components: a knowledge integration framework and a framework for autonomous mission execution. In this research chapter, we will discuss our skill-based platform SkiROS, that was developed on top of ROS in order to organize robot knowledge and its behavior. We will show how SkiROS offers the possibility to integrate different functionalities in form of skill ‘apps’ and how SkiROS offers services for integrating these skill-apps into a consistent workspace. Furthermore, we will show how these skill-apps can be automatically executed based on autonomous, goal-directed task planning. SkiROS helps the developers to program and port their high-level code over a heterogeneous range of robots, meanwhile the minimal Graphical User Interface (GUI) allows non-expert users to start and supervise the execution. As an application example, we present how SkiROS was used to vertically integrate a robot into the manufacturing system of PSA Peugeot-Citroën. We will discuss the characteristics of the SkiROS architecture which makes it not limited to the automotive industry but flexible enough to be used in other application areas as well. SkiROS has been developed on Ubuntu 14.04 LTS and ROS indigo and it can be downloaded at https://github.com/frovida/skiros. A demonstration video is also available at https://youtu.be/mo7UbwXW5W0. (Less)
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
keywords
autonomous robots, behavior trees, hierarchical task networks, planning, skills, kitting task, Knowledge integration, planning, skills, Software engineering
host publication
Robot Operating System (ROS) : The Complete Reference (Volume 2) - The Complete Reference (Volume 2)
series title
Studies in Computational Intelligence
editor
Koubaa, Anis
volume
707
pages
40 pages
publisher
Springer
external identifiers
  • scopus:85019698096
ISSN
1860-9503
1860-949X
ISBN
978-3-319-54927-9
978-3-319-54926-2
DOI
10.1007/978-3-319-54927-9_4
language
English
LU publication?
no
id
bc4154c5-6954-42da-b320-05b29edea146
date added to LUP
2019-05-16 21:18:52
date last changed
2021-01-19 03:22:10
@inbook{bc4154c5-6954-42da-b320-05b29edea146,
  abstract     = {The development of cognitive robots in ROS still lacks the support of some key components: a knowledge integration framework and a framework for autonomous mission execution. In this research chapter, we will discuss our skill-based platform SkiROS, that was developed on top of ROS in order to organize robot knowledge and its behavior. We will show how SkiROS offers the possibility to integrate different functionalities in form of skill ‘apps’ and how SkiROS offers services for integrating these skill-apps into a consistent workspace. Furthermore, we will show how these skill-apps can be automatically executed based on autonomous, goal-directed task planning. SkiROS helps the developers to program and port their high-level code over a heterogeneous range of robots, meanwhile the minimal Graphical User Interface (GUI) allows non-expert users to start and supervise the execution. As an application example, we present how SkiROS was used to vertically integrate a robot into the manufacturing system of PSA Peugeot-Citroën. We will discuss the characteristics of the SkiROS architecture which makes it not limited to the automotive industry but flexible enough to be used in other application areas as well. SkiROS has been developed on Ubuntu 14.04 LTS and ROS indigo and it can be downloaded at https://github.com/frovida/skiros. A demonstration video is also available at https://youtu.be/mo7UbwXW5W0.},
  author       = {Rovida, Francesco and Crosby, Matthew and Holz, Dirk and Polydoros, Athanasios S. and Großmann, Bjarne and Petrick, Ronald P.A. and Krueger, Volker},
  booktitle    = {Robot Operating System (ROS) : The Complete Reference (Volume 2)},
  editor       = {Koubaa, Anis},
  isbn         = {978-3-319-54927-9},
  issn         = {1860-9503},
  language     = {eng},
  month        = {05},
  pages        = {121--160},
  publisher    = {Springer},
  series       = {Studies in Computational Intelligence},
  title        = {SkiROS—A skill-based robot control platform on top of ROS},
  url          = {http://dx.doi.org/10.1007/978-3-319-54927-9_4},
  doi          = {10.1007/978-3-319-54927-9_4},
  volume       = {707},
  year         = {2017},
}