Probabilistic planning for robotics with ROSPlan
Document typeConference report
Rights accessOpen Access
European Commission's projectCLOTHILDE - CLOTH manIpulation Learning from DEmonstrations (EC-H2020-741930)
Probabilistic planning is very useful for handling uncertainty in planning tasks to be carried out by robots. ROSPlan is a framework for task planning in the Robot Operating System (ROS), but until now it has not been possible to use probabilistic planners within the framework. This systems paper presents a standardized integration of probabilistic planners into ROSPlan that allows for reasoning with non-deterministic effects and is agnostic to the probabilistic planner used. We instantiate the framework in a system for the case of a mobile robot performing tasks indoors, where probabilistic plans are generated and executed by the PROST planner. We evaluate the effectiveness of the proposed approach in a real-world robotic scenario.
The final publication is available at link.springer.com
CitationCanal, G. [et al.]. Probabilistic planning for robotics with ROSPlan. A: Annual Conference on Towards Autonomous Robotic Systems. "TAROS 2019 - 20th Anual Conference on Towards Autonomus Robotics Systems". 2019, p. 236-250.
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