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Workshop paper

Mission Planning for a Robot Factory Fleet, M. Crosby and R. Petrick, IROS 2015 Workshop on Task Planning for Intelligent Robots in Service and Manufacturing, 2015.

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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 model to a high-level planning domain. This paper also introduces a new algorithm for decomposition-based planning that can find 'balanced' plans in large multi-robot domains where current state-of-the-art techniques fail.