Planning for Robots with Skills

Matthew Crosby, Francesco Rovida, Mikkel Rath Pedersen, Ronald P. A. Petrick, Volker Krüger

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

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Abstract

Modern industrial robotics is characterised by a need for flexibility in robot design, in order to minimise programming and development time when a robot's tasks must be changed. To address this problem, a recent approach has proposed that robots be equipped with a set of general, reoccurring operations called `skills', e.g., picking, placing, or driving. This paper presents a method for automatically generating planning problems from existing skill definitions such that the resulting problems can be solved using off-the-shelf planning software, and the solutions can be used to control robot actions in the world. As a result, a robot can therefore perform new tasks simply by specifying the task's goals via a GUI. The approach is demonstrated on a set of common tasks in a simulated industrial environment and has also been tested successfully on a real-world robotic platform.
Original languageEnglish
Title of host publicationProceedings of the 4th Workshop on Planning and Robotics (PlanRob)
PublisherICAPS
Pages49-57
Number of pages9
Publication statusPublished - 13 Jun 2016
Event4th ICAPS Workshop on Planning and Robotics 2016 - London, United Kingdom
Duration: 13 Jun 201614 Jun 2016
http://icaps16.icaps-conference.org/planrob.html

Workshop

Workshop4th ICAPS Workshop on Planning and Robotics 2016
Abbreviated titlePlanRob 2016
CountryUnited Kingdom
CityLondon
Period13/06/1614/06/16
Internet address

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  • Cite this

    Crosby, M., Rovida, F., Pedersen, M. R., Petrick, R. P. A., & Krüger, V. (2016). Planning for Robots with Skills. In Proceedings of the 4th Workshop on Planning and Robotics (PlanRob) (pp. 49-57). ICAPS.