An Action Interface Manager for ROSPlan

RWTH Publications (RWTH Aachen)

Abstract

Task planning and task execution are two high-level robot control modules that often are working with representations of the scenario at different levels of abstraction. Thus, a further mapping module is required to connect the abstract planned actions to the robot-specific algorithms that must be called in order to execute these actions. We present a novel implementation of such a module that allows a user to define this mapping for all actions through a single configuration file. This greatly reduces the amount of effort that is required to integrate an automated planner with a robotic platform. This module has been integrated as an Action Interface of the automated task planning framework ROSPlan, and includes a Graphical User Interface though which the configuration file can be easily generated and updated. The use of the interface is demonstrated in two scenarios: with robot actors possessing only a single action, and a more complex scenario with multiple agents and types of actions.

Authors 4

1. Stefan-Octavian Bezrucav Aachen Institute of Mechanism Theory

   RWTH Aachen University

   Affiliation as printed

   Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University

2. Gerard Canal

   King's College London

   Affiliation as printed

   Department of Informatics, King's College London

3. Michael Cashmore

   University of Strathclyde

   Affiliation as printed

   Computer and Information Sciences, University of Strathclyde

   Computer And Information Sciences

4. Burkhard J. Corves Aachen Institute of Mechanism Theory

   RWTH Aachen University

   Affiliation as printed

   Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University