AAAI Publications, Twenty-Seventh International Conference on Automated Planning and Scheduling

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Integrating Mission and Task Planning in an Industrial Robotics Framework
Matthew Crosby, Ronald P. A. Petrick, Francesco Rovida, Volker Krueger

Last modified: 2017-06-05


This paper presents a framework developed for an industrial robotics system that utilises two different planning components. At a high level, a multi-robot mission planner interfaces with a fleet and environment manager and uses multiagent planning techniques to build mission assignments to be distributed to a robot fleet. On each robot, a task planner automatically converts the robot's world model and skill definitions into a planning problem which is then solved to find a sequence of actions that the robot should perform to complete its mission. This framework is demonstrated on an industrial kitting task in a real-world factory environment.

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