Transforming Robotic Plans with Timed Automata to Solve Temporal Platform Constraints

Viehmann, Tarik; Hofmann, Till; Lakemeyer, Gerhard

doi:10.24963/ijcai.2021/287

Transforming Robotic Plans with Timed Automata to Solve Temporal Platform Constraints

Tarik Viehmann, Till Hofmann, Gerhard Lakemeyer

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Proceedings of the Thirtieth International Joint Conference on Artificial Intelligence. Main Track. Pages 2083-2089.

https://doi.org/10.24963/ijcai.2021/287

Keywords

Robotics: Cognitive Robotics
Knowledge Representation and Reasoning: Qualitative, Geometric, Spatial, Temporal Reasoning
Planning and Scheduling: Temporal and Hybrid Planning
Robotics: Behavior and Control

Abstract

Task planning for mobile robots typically uses an abstract planning domain

that ignores the low-level details of the specific robot platform.

Therefore, executing a plan on an actual robot often requires

additional steps to deal with the specifics of the robot platform. Such

a platform can be modeled with timed automata and a set of temporal

constraints that need to be satisfied during execution.

In this paper, we describe how to transform an abstract plan into a

platform-specific action sequence that satisfies all platform

constraints. The transformation procedure first transforms the plan into

a timed automaton, which is then combined with the platform automata

while removing all transitions that violate any constraint. We then

apply reachability analysis on the resulting automaton. From any

solution trace one can obtain the abstract plan extended by additional

platform actions such that all platform constraints are satisfied. We

describe the transformation procedure in detail and provide an

evaluation in two real-world robotics scenarios.

Tarik Viehmann, Till Hofmann, and Gerhard Lakemeyer. 2021. Transforming Robotic Plans with Timed Automata to Solve Temporal Platform Constraints. In Proceedings of the Thirtieth International Joint Conference on Artificial Intelligence, IJCAI-21. IJCAI, 2083–2089. https://doi.org/10.24963/ijcai.2021/287

@inproceedings{ijcai2021p287,
  title     = {Transforming Robotic Plans with Timed Automata to Solve Temporal Platform Constraints},
  author    = {Viehmann, Tarik and Hofmann, Till and Lakemeyer, Gerhard},
  booktitle = {Proceedings of the Thirtieth International Joint Conference on
               Artificial Intelligence, {IJCAI-21}},
  publisher = {International Joint Conferences on Artificial Intelligence Organization},
  editor    = {Prof. Zhi-Hua Zhou},
  pages     = {2083--2089},
  year      = {2021},
  month     = {8},
  note      = {Main Track},
  doi       = {10.24963/ijcai.2021/287},
  url       = {https://doi.org/10.24963/ijcai.2021/287},
}

TY  - CPAPER
TI  - Transforming Robotic Plans with Timed Automata to Solve Temporal Platform Constraints
AU  - Viehmann, Tarik
AU  - Hofmann, Till
AU  - Lakemeyer, Gerhard
T2  - Proceedings of the Thirtieth International Joint Conference on Artificial Intelligence, IJCAI-21
PB  - International Joint Conferences on Artificial Intelligence Organization
PY  - 2021
SP  - 2083
EP  - 2089
DO  - 10.24963/ijcai.2021/287
UR  - https://doi.org/10.24963/ijcai.2021/287
ER  -