Daniele Magazzeni

Department of Informatics
King’s College London, U.K.

Title: ROSPlan: Expressive and Effective Task Planning with ROS

Abstract: Planning for real robots is hard!
Indeed, planning for interesting robotics problems requires rich models to
capture complex dynamics as well as the uncertain and evolving
environment, scalable planning techniques and robust methods of
execution. There are many open problems, including the handling of
temporal constraints, how to exploit opportunities, and how to handle failure
and anticipate it in the future. At the same time, integration issues have
been limiting factors for the actual use of PDDL planners for the control of
ROS systems.
Things are getting better!
This talk will first highlight recent advances in modelling complex robotics
scenarios (using PDDL+) and planning with them (using SMT-based planning).
The talk will then offer an overview of ROSPlan, the open-source framework
for using AI Planning directly with ROS systems.

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