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Conference paper

Integrating Mission and Task Planning in an Industrial Robotics Framework, M. Crosby, F. Rovida, V. Krüger, and R. Petrick, Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS 2017), pages 471-479, 2017.

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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.