Integrating Mission and Task Planning in an Industrial Robotics Framework

Matthew Crosby; Francesco Rovida; Volker Krüger; Ronald Petrick

Integrating Mission and Task Planning in an Industrial Robotics Framework

Matthew Crosby, Francesco Rovida, Volker Krüger, Ronald Petrick

Aalborg University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Citations (Scopus)

166 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 language	English
Title of host publication	Proceedings of the 27th International Conference on Automated Planning and Scheduling
Publisher	AAAI Press
Pages	471-479
Number of pages	9
ISBN (Electronic)	9781577357896
Publication status	Published - 18 Jun 2017
Event	27th International Conference on Automated Planning and Scheduling 2017 - Pittsburgh, United States Duration: 18 Jun 2017 → 23 Jun 2017 http://icaps17.icaps-conference.org/

Publication series

Name	International Conference on Automated Planning and Scheduling
Publisher	AAAI Press
ISSN (Print)	2334-0835

Conference

Conference	27th International Conference on Automated Planning and Scheduling 2017
Abbreviated title	ICAPS 2017
Country/Territory	United States
City	Pittsburgh
Period	18/06/17 → 23/06/17
Internet address	http://icaps17.icaps-conference.org/

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https://aaai.org/ocs/index.php/ICAPS/ICAPS17/paper/view/15715

Cite this

Crosby, M., Rovida, F., Krüger, V., & Petrick, R. (2017). Integrating Mission and Task Planning in an Industrial Robotics Framework. In Proceedings of the 27th International Conference on Automated Planning and Scheduling (pp. 471-479). (International Conference on Automated Planning and Scheduling). AAAI Press. https://aaai.org/ocs/index.php/ICAPS/ICAPS17/paper/view/15715

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title = "Integrating Mission and Task Planning in an Industrial Robotics Framework",

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.",

author = "Matthew Crosby and Francesco Rovida and Volker Kr{\"u}ger and Ronald Petrick",

year = "2017",

month = jun,

day = "18",

language = "English",

series = "International Conference on Automated Planning and Scheduling",

publisher = "AAAI Press",

pages = "471--479",

booktitle = "Proceedings of the 27th International Conference on Automated Planning and Scheduling",

note = "27th International Conference on Automated Planning and Scheduling 2017, ICAPS 2017 ; Conference date: 18-06-2017 Through 23-06-2017",

url = "http://icaps17.icaps-conference.org/",

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Crosby, M, Rovida, F, Krüger, V & Petrick, R 2017, Integrating Mission and Task Planning in an Industrial Robotics Framework. in Proceedings of the 27th International Conference on Automated Planning and Scheduling. International Conference on Automated Planning and Scheduling, AAAI Press, pp. 471-479, 27th International Conference on Automated Planning and Scheduling 2017, Pittsburgh, Pennsylvania, United States, 18/06/17. <https://aaai.org/ocs/index.php/ICAPS/ICAPS17/paper/view/15715>

Integrating Mission and Task Planning in an Industrial Robotics Framework. / Crosby, Matthew; Rovida, Francesco; Krüger, Volker et al.

Proceedings of the 27th International Conference on Automated Planning and Scheduling. AAAI Press, 2017. p. 471-479 (International Conference on Automated Planning and Scheduling).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - 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.

AB - 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.

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M3 - Conference contribution

T3 - International Conference on Automated Planning and Scheduling

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BT - Proceedings of the 27th International Conference on Automated Planning and Scheduling

PB - AAAI Press

T2 - 27th International Conference on Automated Planning and Scheduling 2017

Y2 - 18 June 2017 through 23 June 2017

ER -

Integrating Mission and Task Planning in an Industrial Robotics Framework

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Ron Petrick

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Integrating Mission and Task Planning in an Industrial Robotics Framework

Abstract

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Conference

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Ron Petrick

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