Carnegie Mellon University
Interleaving Planning and Robot Execution for Asynchronous User Requests

Karen Zita Haigh and Manuela Veloso
Autonomous Robots, March, 1998.

  • Adobe portable document format (pdf) (532KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

ROGUE is an architecture built on a real robot which provides algorithms for the integration of high-level planning, low-level robotic execution, and learning. ROGUE addresses successfully several of the challenges of a dynamic office gopher environment. This article presents the techniques for the integration of planning and execution.

ROGUE uses and extends a classical planning algorithm to create plans for multiple interacting goals introduced by asynchronous user requests. ROGUE translates the planner's actions to robot execution actions and monitors real world execution. ROGUE is currently implemented using the ROGUE planner and the Xavier robot. This article describes how plans are created for multiple asynchronous goals, and how task priority and compatibility information is used to achieve appropriate efficient execution. We describe how ROGUE communicates with the planner and the robot to interleave planning with execution so that the planner can replan for failed actions, identify the actual outcome of an action with multiple possible outcomes, and take opportunities from changes in the environment.

ROGUE represents a successful integration of a classical artificial intelligence planner with a real mobile robot.


Text Reference
Karen Zita Haigh and Manuela Veloso , "Interleaving Planning and Robot Execution for Asynchronous User Requests," Autonomous Robots, March, 1998.

BibTeX Reference
   author = "Karen Zita Haigh and Manuela {Veloso }",
   title = "Interleaving Planning and Robot Execution for Asynchronous User Requests",
   journal = "Autonomous Robots",
   month = "March",
   year = "1998",