Towards autonomous robotic valve turning
| Autor: | Derek Long, Daniele Magazzeni, Michael Cashmore, Maria Fox, Natalia Hurtos, Narcis Palomeras, Bram Ridder, Arnau Carreraa, Marc Carrerasa |
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| Předmět: |
0209 industrial biotechnology
Artificial intelligence Record locking Vehicles submergibles General Computer Science Computer science Distributed computing Robots autònoms 02 engineering and technology Task (project management) Submersibles 020901 industrial engineering & automation Robustness (computer science) Autonomous robots Aprenentatge automàtic Machine learning 0202 electrical engineering electronic engineering information engineering Flexibility (engineering) Social robot business.industry Intel·ligència artificial Robotics Mobile robot Modular design 020201 artificial intelligence & image processing business |
| Zdroj: | Scopus-Elsevier Cybernetics and Information Technologies, 2012, vol. 12, núm. 3, p. 17-26 Articles publicats (D-ATC) DUGiDocs – Universitat de Girona instname ICAPS |
| Popis: | The Robot Operating System (ROS) is a set of software libraries and tools used to build robotic systems. ROS is known for a distributed and modular design. Given a model of the environment, task planning is concerned with the assembly of actions into a structure that is predicted to achieve goals. This can be done in a way that minimises costs, such as time or energy. Task planning is vital in directing the actions of a robotic agent in domains where a causal chain could lock the agent into a dead-end state. Moreover, planning can be used in less constrained domains to provide more intelligent behaviour. This paper describes the ROSPLAN framework, an architecture for embedding task planning into ROS systems. We provide a description of the architecture and a case study in autonomous robotics. Our case study involves autonomous underwater vehicles in scenarios that demonstrate the flexibility and robustness of our approach. |
| Databáze: | OpenAIRE |
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