Control of autonomous mobile robots with automated planning
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http://hdl.handle.net/10045/16643
Title: | Control of autonomous mobile robots with automated planning |
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Authors: | Quintero Barrios, Ezequiel | García Olaya, Ángel | Borrajo Millán, Daniel | Fernández Rebollo, Fernando |
Keywords: | Automated planning | Autonomous robots | Robotic architectures | Mobile robots |
Knowledge Area: | Ciencia de la Computación e Inteligencia Artificial |
Issue Date: | Jan-2011 |
Publisher: | Red de Agentes Físicos |
Citation: | QUINTERO BARRIOS, Ezequiel, et al. “Control of autonomous mobile robots with automated planning”. Journal of Physical Agents. Vol. 5, No. 1 (Jan. 2011). ISSN 1888-0258, pp. 3-13 |
Abstract: | In this paper we present an approach for the control of autonomous robots, based on Automated Planning (AP) techniques, where a control architecture was developed (ROPEM: RObot Plan Execution with Monitoring). The proposed architecture is composed of a set of modules that integrates deliberation with a standard planner, execution, monitoring and replanning. We avoid robotic-device and platform dependency by using a low level control layer, implemented in the Player framework, separated from the high level task execution that depends on the domain we are working on; that way we also ensure reusability of the high and low level layers. As robot task execution is non-deterministic, we can not predict the result of performing a given action and for that reason we also use a module that supervises the execution and detects when we have reached the goals or an unexpected state. Separated from the execution, we included a planning module in charge of determining the actions that will let the robot achieve its high level goals. In order to test the performance of our contribution we conducted a set of experiments on the International Planning Competition (IPC) domain Rovers, with a real robot (Pioneer P3DX). We tested the planning/replanning capabilities of the ROPEM architecture with different controlled sources of uncertainty. |
Sponsor: | This work has been partially supported by the Spanish MICINN under projects TIN2008-06701-C03-03, TRA-2009-008 and Comunidad de Madrid - UC3M (CCG10-UC3M/TIC-5597). |
URI: | http://hdl.handle.net/10045/16643 | http://dx.doi.org/10.14198/JoPha.2011.5.1.02 |
ISSN: | 1888-0258 |
DOI: | 10.14198/JoPha.2011.5.1.02 |
Language: | eng |
Type: | info:eu-repo/semantics/article |
Peer Review: | si |
Appears in Collections: | Journal of Physical Agents - 2011, Vol. 5, No. 1 |
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JoPha_5_1_02.pdf | 1,03 MB | Adobe PDF | Open Preview | |
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