Show simple item record

dc.contributor.authorCanal Camprodon, Gerard
dc.contributor.authorCashmmore, Michael
dc.contributor.authorKrivic, Senka
dc.contributor.authorAlenyà Ribas, Guillem
dc.contributor.authorMagazzeni, Daniele
dc.contributor.authorTorras, Carme
dc.contributor.otherUniversitat Politècnica de Catalunya. Doctorat en Automàtica, Robòtica i Visió
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.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.
dc.descriptionThe final publication is available at
dc.description.abstractProbabilistic 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.
dc.format.extent15 p.
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherProbabilistic planning
dc.subject.otherPlanning for robotics
dc.titleProbabilistic planning for robotics with ROSPlan
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.rights.accessOpen Access
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/H2020/741930/EU/CLOTH manIpulation Learning from DEmonstrations/CLOTHILDE
local.citation.authorCanal, G.; Cashmmore, M.; Krivic, S.; Alenyà, G.; Magazzeni, D.; Torras, C.
local.citation.contributorAnnual Conference on Towards Autonomous Robotic Systems
local.citation.publicationNameTAROS 2019 - 20th Anual Conference on Towards Autonomus Robotics Systems

Files in this item


This item appears in the following Collection(s)

Show simple item record

All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder