Towards Robust Mission Execution via Temporal and Contingent Planning

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

doi:10.1007/978-3-030-63486-5_24

Towards Robust Mission Execution via Temporal and Contingent Planning

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

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

1 Citation (Scopus)

46 Downloads (Pure)

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 language	English
Title of host publication	Towards Autonomous Robotic Systems. TAROS 2020
Editors	Abdelkhalick Mohammad, Xin Dong, Matteo Russo
Publisher	Springer
Pages	214-217
Number of pages	4
ISBN (Electronic)	9783030634865
ISBN (Print)	9783030634858
DOIs	https://doi.org/10.1007/978-3-030-63486-5_24
Publication status	Published - 3 Dec 2020
Event	21st Towards Autonomous Robotic Systems Conference 2020 - online, Nottingham, United Kingdom Duration: 16 Sept 2020 → 16 Sept 2020

Publication series

Name	Lecture Notes in Computer Science
Volume	12228
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	21st Towards Autonomous Robotic Systems Conference 2020
Abbreviated title	TAROS 2020
Country/Territory	United Kingdom
City	Nottingham
Period	16/09/20 → 16/09/20

Keywords

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

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1007/978-3-030-63486-5_24

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The final authenticated version is available online at https://doi.org/10.1007/978-3-030-63486-5_24
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Cite this

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title = "Towards Robust Mission Execution via Temporal and Contingent Planning",

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.",

keywords = "Contingent planning, High-level task planning, Marine robotics, Multi-robot systems, Temporal planning",

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

year = "2020",

month = dec,

day = "3",

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language = "English",

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editor = "Abdelkhalick Mohammad and Xin Dong and Matteo Russo",

booktitle = "Towards Autonomous Robotic Systems. TAROS 2020",

note = "21st Towards Autonomous Robotic Systems Conference 2020, TAROS 2020 ; Conference date: 16-09-2020 Through 16-09-2020",

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Carreno, Y, Petillot, Y & Petrick, RPA 2020, Towards Robust Mission Execution via Temporal and Contingent Planning. in A Mohammad, X Dong & M Russo (eds), Towards Autonomous Robotic Systems. TAROS 2020. Lecture Notes in Computer Science, vol. 12228, Springer, pp. 214-217, 21st Towards Autonomous Robotic Systems Conference 2020, Nottingham, United Kingdom, 16/09/20. https://doi.org/10.1007/978-3-030-63486-5_24

Towards Robust Mission Execution via Temporal and Contingent Planning. / Carreno, Yaniel; Petillot, Yvan ; Petrick, Ronald P. A.
Towards Autonomous Robotic Systems. TAROS 2020. ed. / Abdelkhalick Mohammad; Xin Dong; Matteo Russo. Springer, 2020. p. 214-217 (Lecture Notes in Computer Science; Vol. 12228).

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

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T1 - Towards Robust Mission Execution via Temporal and Contingent Planning

AU - Carreno, Yaniel

AU - Petillot, Yvan

AU - Petrick, Ronald P. A.

PY - 2020/12/3

Y1 - 2020/12/3

N2 - 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.

AB - 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.

KW - Contingent planning

KW - High-level task planning

KW - Marine robotics

KW - Multi-robot systems

KW - Temporal planning

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DO - 10.1007/978-3-030-63486-5_24

M3 - Conference contribution

SN - 9783030634858

T3 - Lecture Notes in Computer Science

SP - 214

EP - 217

BT - Towards Autonomous Robotic Systems. TAROS 2020

A2 - Mohammad, Abdelkhalick

A2 - Dong, Xin

A2 - Russo, Matteo

PB - Springer

T2 - 21st Towards Autonomous Robotic Systems Conference 2020

Y2 - 16 September 2020 through 16 September 2020

ER -

Towards Robust Mission Execution via Temporal and Contingent Planning

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

UN SDGs

Access to Document

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