Extending Knowledge-Level Contingent Planning for Robot Task Planning
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BibTeX
@MISC{Petrick_extendingknowledge-level,
author = {Ronald P. A. Petrick and Andre Gaschler},
title = {Extending Knowledge-Level Contingent Planning for Robot Task Planning},
year = {}
}
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Abstract
We present a set of extensions to the knowledge-level PKS (Planning with Knowledge and Sensing) planner, aimed at improving its ability to generate plans in real-world robotics domains. These extensions include a fa-cility for integrating externally-defined reasoning pro-cesses in PKS (e.g., invoking a motion planner), an interval-based fluent representation for capturing the ef-fects of noisy sensors and effectors, and an application programming interface (API) to facilitate software in-tegration on robot platforms. We demonstrate our tech-niques in three simple robot domains, which show their applicability to a broad range of robot planning applica-tions involving incomplete knowledge, real-world ge-ometry, and multiple robots and sensors.
Keyphrases
robot task planning knowledge-level contingent planning interval-based fluent representation real-world ge-ometry software in-tegration knowledge-level pks simple robot domain robot platform real-world robotics domain multiple robot noisy sensor motion planner incomplete knowledge broad range
