Integrating Mission and Task Planning in an Industrial Robotics Framework

Matthew Crosby, Francesco Rovida, Volker Krüger, Ronald Petrick

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)
79 Downloads (Pure)

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.
Original languageEnglish
Title of host publicationProceedings of the 27th International Conference on Automated Planning and Scheduling
PublisherAAAI Press
Pages471-479
Number of pages9
ISBN (Electronic)9781577357896
Publication statusPublished - 18 Jun 2017
Event27th International Conference on Automated Planning and Scheduling 2017 - Pittsburgh, United States
Duration: 18 Jun 201723 Jun 2017
http://icaps17.icaps-conference.org/

Publication series

NameInternational Conference on Automated Planning and Scheduling
PublisherAAAI Press
ISSN (Print)2334-0835

Conference

Conference27th International Conference on Automated Planning and Scheduling 2017
Abbreviated titleICAPS 2017
CountryUnited States
CityPittsburgh
Period18/06/1723/06/17
Internet address

Fingerprint Dive into the research topics of 'Integrating Mission and Task Planning in an Industrial Robotics Framework'. Together they form a unique fingerprint.

Cite this