Integrating a PDDL-Based Planner and a PLEXIL-Executor into the Ptinto Robot

Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6096)


Ptinto is a prototype of a hexapod robot for exploration tasks in rocky and cumbersome areas. The main objective of this prototype is to design and test a complex kinematic control system, including both new hardware and software technologies.

In this paper we describe the autonomous architecture that we have developed for the control of the system. We use a deliberator that must be able to make a safe trajectory between two or more points avoiding obstacles. When a trajectory has been created, the executive takes this plan to control Ptinto via the hardware abstraction layer. This is a classical 3T architecture implementation with two general purpose systems: a PDDL planner as the deliberator, and a PLEXIL executor.


Autonomous agents intelligent system planning and scheduling intelligent execution robotics 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Bresina, J., Jonsson, A., Morris, P., Rajan, K.: Activity Planning for the Mars Exploration Rovers. In: Procs. of the Workshop on Scheduling and Planning Applications of the International Conference on Automated Planning and Scheduling (ICAPS), Monterey, CA, USA (2005)Google Scholar
  2. 2.
    Bresina, J., Morris, P.: Mission Operations Planning: Beyond MAPGEN. In: Procs. of the Second IEEE International Conference On Space Mission Challenges for Information Technology, Pasadena, CA, USA (2006)Google Scholar
  3. 3.
    Aschwanden, P., Baskaran, V., Bernardini, S., Fry, C., R-Moreno, M.D., Muscettola, N., Plaunt, C., Rijsman, D., Tompkins, P.: Model-Unified Planning and Execution for Distributed Autonomous System Control. In: Procs. of the AAAI 2006 Fall Symposia. Washington, DC, USA (October 2006)Google Scholar
  4. 4.
    McGann, C., Py, F., Rajan, K., Thomas, H., Henthorn, R., McEwen, R.: A Deliberative Architecture for AUV Control. In: Procs. of the Conference on Robotics and Automation, Pasadena, CA, USA (2008)Google Scholar
  5. 5.
    Ingrand, F., Lacroix, S., Lemai-Chenevier, S., Py, F.: Decisional Autonomy of Planetary Rovers. Journal of Field Robotics 24(7), 559–580 (2007)CrossRefGoogle Scholar
  6. 6.
    Gat, E.: Three-Layer Architectures. In: Kortenkamp, D., Bonasso, R.P., Murphy, R. (eds.) Mobile Robots and Artificial Intelligence, pp. 195–210. AAAI Press, Menlo Park (1998)Google Scholar
  7. 7.
    Smith, T.B., Barreiro, J., Chavez-Clemente, D., Smith, D.E., SunSpiral, V.: ATHLETEs Feet: Multi-Resolution Planning for a Hexapod Robot. In: Procs. of the Workshop on Scheduling and Planning Applications of the International Conference on Automated Planning and Scheduling (ICAPS), Sydney, Australia (September 2008)Google Scholar
  8. 8.
    Muñoz, P., R-Moreno, M.D., Gómez-de-Elvira, J., Navarro, S., Romeral, J.: An Autonomous System for the Locomotion of a Hexapod Exploration Robot. In: Procs. of the third IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT 2009), Pasadena, CA, USA (July 2009)Google Scholar
  9. 9.
    Hsu, C.W., Wah, B.W.: The SGPlan Planning System in IPC-6. In: Sixth International Planning Competition, Sydney, Australia (Sepember 2008)Google Scholar
  10. 10.
    Universities Space Research Association (USRA). PLEXIL and Universal Executive Reference Manual, Tech. Rep. 0.90, NASA (June 2009)Google Scholar
  11. 11.
    Verma, V., Jónsson, A., Pasareanu, C., Iatauro, M.: Universal Executive and PLEXIL: Engine and Language for Robust Spacecraft Control and Operations. In: Procs. of the American Institute of Aeronautics and Astronautics Space 2006 Conference, San Jose, CA, USA (September 2006)Google Scholar
  12. 12.
    Fox, M., Long, D.: PDDL 2.1: An Extension to PDDL for Expressing Temporal Planning Domains. Journal of AI Research 20, 61–124 (2003)zbMATHGoogle Scholar
  13. 13.
    Gerevini, A., Long, D.: Plan Constraints and Preferences in PDDL3. Tech. Rep., Dept. of Electronics for Automation, University of Brescia, Italy (August 2005)Google Scholar
  14. 14.
    Plaza, J., R-Moreno, M.D., Castaño, B., Carbajo, M., Moreno, A.: PIPSS: Parallel Integrated Planning and Scheduling System. In: Procs. of the 27th Annual Workshop of the UK Planning and Scheduling Special Interest Group (PLANSIG 2008), Edinburgh, UK (December 2008)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  1. 1.Departamento de AutomáticaUniversidad de AlcaláAlcalá de Henares (Madrid)Spain
  2. 2.Departamento de MatemáticasUniversidad de AlcaláAlcalá de Henares (Madrid)Spain

Personalised recommendations