Towards long-term autonomy based on temporal planning

Yaniel Carreno; Ronald P. A. Petrick; Yvan Petillot

doi:10.1007/978-3-030-25332-5_13

Towards long-term autonomy based on temporal planning

Yaniel Carreno^*, Ronald P. A. Petrick, Yvan Petillot

^*Corresponding author for this work

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

1 Citation (Scopus)

Abstract

This paper investigates the application of temporal planning to multiple robots in long-term missions, using the OPTIC and POPF temporal planners. We design a new planning domain, motivated by a realistic indoor-outdoor scenario. In particular, we investigate plan concurrency, makespan and plan generation time in the multi-robot problem and propose a schema which has been shown to improve plan quality while significantly reducing planning time for the multi-agent problem. Experiments are done in simulation using ROS and Gazebo, and demonstrated in missions with concurrent actions. The ROSPlan framework is also extended to work with multiple robots and used to integrate the planners in ROS. OPTIC provides the best overall solution considering the domain complexity and mission execution in the environment.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems
Subtitle of host publication	TAROS 2019
Editors	Kaspar Althoefer, Jelizaveta Konstantinova, Ketao Zhang
Publisher	Springer
Pages	143-154
Number of pages	12
ISBN (Electronic)	9783030253325
ISBN (Print)	9783030253318
DOIs	https://doi.org/10.1007/978-3-030-25332-5_13
Publication status	Published - 17 Jul 2019
Event	20th Towards Autonomous Robotic Systems Conference 2019 - London, United Kingdom Duration: 3 Jul 2019 → 5 Jul 2019

Publication series

Name	Lecture Notes in Artificial Intelligence
Volume	11650
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	20th Towards Autonomous Robotic Systems Conference 2019
Abbreviated title	TAROS 2019
Country/Territory	United Kingdom
City	London
Period	3/07/19 → 5/07/19

Keywords

Long-term autonomy
Multi-agent
Temporal-planning

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/978-3-030-25332-5_13

Cite this

@inproceedings{ae516c027250494dbfc7aeae23caf7ec,

title = "Towards long-term autonomy based on temporal planning",

abstract = "This paper investigates the application of temporal planning to multiple robots in long-term missions, using the OPTIC and POPF temporal planners. We design a new planning domain, motivated by a realistic indoor-outdoor scenario. In particular, we investigate plan concurrency, makespan and plan generation time in the multi-robot problem and propose a schema which has been shown to improve plan quality while significantly reducing planning time for the multi-agent problem. Experiments are done in simulation using ROS and Gazebo, and demonstrated in missions with concurrent actions. The ROSPlan framework is also extended to work with multiple robots and used to integrate the planners in ROS. OPTIC provides the best overall solution considering the domain complexity and mission execution in the environment.",

keywords = "Long-term autonomy, Multi-agent, Temporal-planning",

author = "Yaniel Carreno and Petrick, {Ronald P. A.} and Yvan Petillot",

year = "2019",

month = jul,

day = "17",

doi = "10.1007/978-3-030-25332-5_13",

language = "English",

isbn = "9783030253318",

series = "Lecture Notes in Artificial Intelligence",

publisher = "Springer",

pages = "143--154",

editor = "Kaspar Althoefer and Jelizaveta Konstantinova and Ketao Zhang",

booktitle = "Towards Autonomous Robotic Systems",

note = "20th Towards Autonomous Robotic Systems Conference 2019, TAROS 2019 ; Conference date: 03-07-2019 Through 05-07-2019",

}

Carreno, Y, Petrick, RPA & Petillot, Y 2019, Towards long-term autonomy based on temporal planning. in K Althoefer, J Konstantinova & K Zhang (eds), Towards Autonomous Robotic Systems: TAROS 2019. Lecture Notes in Artificial Intelligence, vol. 11650, Springer, pp. 143-154, 20th Towards Autonomous Robotic Systems Conference 2019, London, United Kingdom, 3/07/19. https://doi.org/10.1007/978-3-030-25332-5_13

Towards long-term autonomy based on temporal planning. / Carreno, Yaniel; Petrick, Ronald P. A.; Petillot, Yvan.
Towards Autonomous Robotic Systems: TAROS 2019. ed. / Kaspar Althoefer; Jelizaveta Konstantinova; Ketao Zhang. Springer, 2019. p. 143-154 (Lecture Notes in Artificial Intelligence; Vol. 11650).

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

TY - GEN

T1 - Towards long-term autonomy based on temporal planning

AU - Carreno, Yaniel

AU - Petrick, Ronald P. A.

AU - Petillot, Yvan

PY - 2019/7/17

Y1 - 2019/7/17

N2 - This paper investigates the application of temporal planning to multiple robots in long-term missions, using the OPTIC and POPF temporal planners. We design a new planning domain, motivated by a realistic indoor-outdoor scenario. In particular, we investigate plan concurrency, makespan and plan generation time in the multi-robot problem and propose a schema which has been shown to improve plan quality while significantly reducing planning time for the multi-agent problem. Experiments are done in simulation using ROS and Gazebo, and demonstrated in missions with concurrent actions. The ROSPlan framework is also extended to work with multiple robots and used to integrate the planners in ROS. OPTIC provides the best overall solution considering the domain complexity and mission execution in the environment.

AB - This paper investigates the application of temporal planning to multiple robots in long-term missions, using the OPTIC and POPF temporal planners. We design a new planning domain, motivated by a realistic indoor-outdoor scenario. In particular, we investigate plan concurrency, makespan and plan generation time in the multi-robot problem and propose a schema which has been shown to improve plan quality while significantly reducing planning time for the multi-agent problem. Experiments are done in simulation using ROS and Gazebo, and demonstrated in missions with concurrent actions. The ROSPlan framework is also extended to work with multiple robots and used to integrate the planners in ROS. OPTIC provides the best overall solution considering the domain complexity and mission execution in the environment.

KW - Long-term autonomy

KW - Multi-agent

KW - Temporal-planning

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DO - 10.1007/978-3-030-25332-5_13

M3 - Conference contribution

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SN - 9783030253318

T3 - Lecture Notes in Artificial Intelligence

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BT - Towards Autonomous Robotic Systems

A2 - Althoefer, Kaspar

A2 - Konstantinova, Jelizaveta

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PB - Springer

T2 - 20th Towards Autonomous Robotic Systems Conference 2019

Y2 - 3 July 2019 through 5 July 2019

ER -

Towards long-term autonomy based on temporal planning

Abstract

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Conference

Keywords

ASJC Scopus subject areas

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