Control of Autonomous Mobile Robots with Automated Planning
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Autores: Ezequiel Quintero, Angel García Olaya
, Daniel Borrajo Millán , Fernando Fernández Rebollo
- Localización: JoPha: Journal of Physical Agents, ISSN-e 1888-0258, Vol. 5, Nº. 1, 2011, págs. 3-13
- Idioma: inglés
- DOI: 10.14198/jopha.2011.5.1.02
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Resumen
In this paper we present an approach for the control of autonomous robots, based on Automated Planning (AP) techniques, where a control architecture was developed (ROPEM:
RObot Plan Execution with Monitoring). The proposed architecture is composed of a set of modules that integrates deliberation with a standard planner, execution, monitoring and replanning.
We avoid robotic-device and platform dependency by using a low level control layer, implemented in the Player framework, separated from the high level task execution that depends on the domain we are working on; that way we also ensure reusability of the high and low level layers. As robot task execution is non-deterministic, we can not predict the result of performing a given action and for that reason we also use a module that supervises the execution and detects when we have reached the goals or an unexpected state. Separated from the execution, we included a planning module in charge of determining the actions that will let the robot achieve its high level goals. In order to test the performance of our contribution we conducted a set of experiments on the International Planning Competition (IPC) domain Rovers, with a real robot (Pioneer P3DX). We tested the planning/replanning capabilities of the ROPEM architecture with different controlled sources of uncertainty.
