Mission Planning for a Robot Factory Fleet

Matthew Crosby, Ronald Petrick

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Planning is becoming increasingly prevalent as a tool for high-level reasoning in real-world robotics systems. This paper discusses the implementation of a high-level ‘mission planner’ that utilises AI planning techniques to find initial plans for a fleet of robots acting in a manufacturing factory. The paper introduces the system architecture, and then focuses on the ROS-based mission planning component, which requires the translation of low-level robot ‘skills’ and a world mode lto a high-level planning domain. This paper also introduces anew algorithm for decomposition-based planning that can find‘balanced’ plans in large multi-robot domains where current state-of-the-art techniques fail.
Original languageEnglish
Title of host publicationWorkshop on Task Planning for Intelligent Robots in Service and Manufacturing at IROS
Number of pages6
Publication statusPublished - 2015

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