Interleaving Planning and Robot Execution for Asynchronous User Requests

Rogue is an architecture built on a real robot which provides algorithms for the integration of highlevel planning, low-level robotic execution, and learning. Rogue addresses successfully several of the challenges of a dynamic o ce gopher environment. This article presents the techniques for the integration of planning and execution. Rogue uses and extends a classical planning algorithm to create plans for multiple interacting goals introduced by asynchronous user requests. Rogue translates the planner's actions to robot execution actions and monitors real world execution. Rogue is currently implemented using the prodigy4.0 planner andthe Xavierrobot. Thisarticle describes how plans are created for multipleasynchronous goals, and how task priority and compatibilityinformationis used to achieve appropriate e cient execution. We describe how Rogue communicates with the planner and the robot to interleave planning with execution so that the planner can replan for failed actions, ide...

• Type: Journal
• Year: 1998
• Where: AROBOTS
• Authors: Karen Zita Haigh, Manuela M. Veloso
• Keywords: AROBOTS 1998, Low-level Robotic Execution, Planning, Robot