Towards Robust Mission Execution via Temporal and Contingent Planning

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Abstract

In this work, we present a general approach to task planning based on the combination of temporal planning, contingent planning and run-time sensing. The strategy provides a solution for generating plans that can adapt during mission execution by reasoning about the data acquired by the sensory system. The approach detects actions that can change the initial plan and evaluates possible outcomes. We demonstrate the effectiveness of our approach on two different experiments in a maritime environment where the robots have to inspect the state of a valve and execute actions based on the online sensor information.
Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems. TAROS 2020
EditorsAbdelkhalick Mohammad, Xin Dong, Matteo Russo
PublisherSpringer
Pages214-217
Number of pages4
ISBN (Electronic)9783030634865
ISBN (Print)9783030634858
DOIs
Publication statusPublished - 3 Dec 2020
Event21st Towards Autonomous Robotic Systems Conference 2020 - online, Nottingham, United Kingdom
Duration: 16 Sep 202016 Sep 2020

Publication series

NameLecture Notes in Computer Science
Volume12228
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference21st Towards Autonomous Robotic Systems Conference 2020
Abbreviated titleTAROS 2020
CountryUnited Kingdom
CityNottingham
Period16/09/2016/09/20

Keywords

  • Contingent planning
  • High-level task planning
  • Marine robotics
  • Multi-robot systems
  • Temporal planning

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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