PlanSys2: A Planning System Framework for ROS2

07/01/2021
by   Francisco Martín, et al.
3

Autonomous robots need to plan the tasks they carry out to fulfill their missions. The missions' increasing complexity does not let human designers anticipate all the possible situations, so traditional control systems based on state machines are not enough. This paper contains a description of the ROS2 Planning System (PlanSys2 in short), a framework for symbolic planning that incorporates novel approaches for execution on robots working in demanding environments. PlanSys2 aims to be the reference task planning framework in ROS2, the latest version of the de facto standard in robotics software development. Among its main features, it can be highlighted the optimized execution, based on Behavior Trees, of plans through a new actions auction protocol and its multi-robot planning capabilities. It already has a small but growing community of users and developers, and this document is a summary of the design and capabilities of this project.

READ FULL TEXT
research
01/06/2021

Optimized Execution of PDDL Plans using Behavior Trees

Robots need task planning to sequence and execute actions toward achievi...
research
08/26/2021

Multi-Robot Task Planning under Individual and Collaborative Temporal Logic Specifications

This paper investigates the task coordination of multi-robot where each ...
research
03/30/2018

Overview: A Hierarchical Framework for Plan Generation and Execution in Multi-Robot Systems

The authors present an overview of a hierarchical framework for coordina...
research
12/09/2020

Kineverse: A Symbolic Articulation Model Framework for Model-Generic Software for Mobile Manipulation

Human developers want to program robots using abstract instructions, suc...
research
05/10/2021

Towards Robust One-shot Task Execution using Knowledge Graph Embeddings

Requiring multiple demonstrations of a task plan presents a burden to en...
research
11/15/2022

Simulated Mental Imagery for Robotic Task Planning

Traditional AI-planning methods for task planning in robotics require sy...
research
03/06/2022

Interactive Disambiguation for Behavior Tree Execution

In recent years, robots are used in an increasing variety of tasks, espe...

Please sign up or login with your details

Forgot password? Click here to reset