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Workshop paper

Extending Knowledge-Level Planning with Sensing for Robot Task Planning, R. Petrick and A. Gaschler, Workshop of the UK Planning and Scheduling Special Interest Group (PlanSIG 2014), 2014.

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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 facility for using externally-defined reasoning processes, an interval-based representation for modelling noisy sensors and effectors, and an application programming interface (API) to facilitate software integration. We demonstrate our techniques in three robot domains, which show their applicability to a broad range of robot planning applications involving incomplete knowledge, real-world geometry, and multiple robots and sensors.