Journal of Physical Agents

Control of autonomous mobile robots with automated planning

Ezequiel Quintero Barrios, Ángel García Olaya, Daniel Borrajo Millán, Fernando Fernández Rebollo



In this paper we present an approach for the control of autonomous robots, based on Automated Planning (AP) techniques, where a control architecture was developed (ROPEM: RObot Plan Execution with Monitoring). The proposed architecture is composed of a set of modules that integrates deliberation with a standard planner, execution, monitoring and replanning. We avoid robotic-device and platform dependency by using a low level control layer, implemented in the Player framework, separated from the high level task execution that depends on the domain we are working on; that way we also ensure reusability of the high and low level layers. As robot task execution is non-deterministic, we can not predict the result of performing a given action and for that reason we also use a module that supervises the execution and detects when we have reached the goals or an unexpected state. Separated from the execution, we included a planning module in charge of determining the actions that will let the robot achieve its high level goals. In order to test the performance of our contribution we conducted a set of experiments on the International Planning Competition (IPC) domain Rovers, with a real robot (Pioneer P3DX). We tested the planning/replanning capabilities of the ROPEM architecture with different controlled sources of uncertainty.


Automated planning; Autonomous robots; Robotic architectures; Mobile robots