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Probabilistic Planning for Robotics with ROSPlan

  • Gerard CanalEmail author
  • Michael Cashmore
  • Senka Krivić
  • Guillem Alenyà
  • Daniele Magazzeni
  • Carme Torras
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11649)

Abstract

Probabilistic planning is very useful for handling uncertainty in planning tasks to be carried out by robots. ROSPlan is a framework for task planning in the Robot Operating System (ROS), but until now it has not been possible to use probabilistic planners within the framework. This systems paper presents a standardized integration of probabilistic planners into ROSPlan that allows for reasoning with non-deterministic effects and is agnostic to the probabilistic planner used. We instantiate the framework in a system for the case of a mobile robot performing tasks indoors, where probabilistic plans are generated and executed by the PROST planner. We evaluate the effectiveness of the proposed approach in a real-world robotic scenario.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Gerard Canal
    • 1
    Email author
  • Michael Cashmore
    • 2
  • Senka Krivić
    • 2
  • Guillem Alenyà
    • 1
  • Daniele Magazzeni
    • 2
  • Carme Torras
    • 1
  1. 1.Institut de Robòtica i Informàtica Industrial, CSIC-UPCBarcelonaSpain
  2. 2.Department of Computer ScienceKing’s College LondonLondonUK

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