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Probabilistic planning for robotics with ROSPlan
dc.contributor.author | Canal Camprodon, Gerard |
dc.contributor.author | Cashmmore, Michael |
dc.contributor.author | Krivic, Senka |
dc.contributor.author | Alenyà Ribas, Guillem |
dc.contributor.author | Magazzeni, Daniele |
dc.contributor.author | Torras, Carme |
dc.contributor.other | Universitat Politècnica de Catalunya. Doctorat en Automàtica, Robòtica i Visió |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2020-03-20T12:56:51Z |
dc.date.available | 2020-03-20T12:56:51Z |
dc.date.issued | 2019 |
dc.identifier.citation | Canal, 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.identifier.uri | http://hdl.handle.net/2117/180760 |
dc.description | The final publication is available at link.springer.com |
dc.description.abstract | 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. |
dc.format.extent | 15 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.other | Probabilistic planning |
dc.subject.other | Planning for robotics |
dc.subject.other | ROSPlan |
dc.title | Probabilistic planning for robotics with ROSPlan |
dc.type | Conference report |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1007/978-3-030-23807-0_20 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.relation.publisherversion | https://link.springer.com/chapter/10.1007%2F978-3-030-23807-0_20 |
dc.rights.access | Open Access |
local.identifier.drac | 26877961 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/H2020/741930/EU/CLOTH manIpulation Learning from DEmonstrations/CLOTHILDE |
dc.relation.projectid | info:eu-repo/grantAgreement/MINECO/2PE/MDM-2016-0656 |
dc.relation.projectid | info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/TIN2017-90086-R/ES/ENTENDER EL MOVIMIENTO HUMANO PARA ADAPTAR EL COMPORTAMIENTO DE UN ROBOT/ |
local.citation.author | Canal, G.; Cashmmore, M.; Krivic, S.; Alenyà, G.; Magazzeni, D.; Torras, C. |
local.citation.contributor | Annual Conference on Towards Autonomous Robotic Systems |
local.citation.publicationName | TAROS 2019 - 20th Anual Conference on Towards Autonomus Robotics Systems |
local.citation.startingPage | 236 |
local.citation.endingPage | 250 |