{"type":"ScholarlyArticle","title":"Transforming Robotic Plans with Timed Automata to Solve Temporal Platform Constraints","authors":[{"name":"Tarik Viehmann","slug":"tarik-viehmann","given":"Tarik","family":"Viehmann","affiliation":""},{"name":"Till Hofmann","slug":"till-hofmann","given":"Till","family":"Hofmann","affiliation":""},{"name":"Gerhard Lakemeyer","slug":"gerhard-lakemeyer","given":"Gerhard","family":"Lakemeyer","affiliation":""}],"abstract":"Task planning for mobile robots typically uses an abstract planning domain\r\nthat ignores the low-level details of the specific robot platform.\r\nTherefore, executing a plan on an actual robot often requires\r\nadditional steps to deal with the specifics of the robot platform. Such\r\na platform can be modeled with timed automata and a set of temporal\r\nconstraints that need to be satisfied during execution.\r\n\r\nIn this paper, we describe how to transform an abstract plan into a\r\nplatform-specific action sequence that satisfies all platform\r\nconstraints. The transformation procedure first transforms the plan into\r\na timed automaton, which is then combined with the platform automata\r\nwhile removing all transitions that violate any constraint. We then\r\napply reachability analysis on the resulting automaton.  From any\r\nsolution trace one can obtain the abstract plan extended by additional\r\nplatform actions such that all platform constraints are satisfied.  We\r\ndescribe the transformation procedure in detail and provide an\r\nevaluation in two real-world robotics scenarios.","doi":"10.24963/ijcai.2021/287","url":"https://ijcai.org/proceedings/2021/287","pdf":"https://ijcai.org/proceedings/2021/0287.pdf","markdown":"https://ijcai.org/proceedings/2021/287.md","bibtex":"https://ijcai.org/proceedings/2021/bibtex/287","volume":{"slug":"2021","title":"Proceedings of the Thirtieth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2021","url":"https://ijcai.org/proceedings/2021/","year":2021,"location":"Montreal","dates":"19-27 August 2021","editors":"Prof. Zhi-Hua Zhou","isbn":"978-0-9992411-9-6","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2021"},"section":"Knowledge Representation and Reasoning","track":"Main Track","number":287,"pages":{"first":2083,"last":2089},"keywords":["Robotics: Cognitive Robotics","Knowledge Representation and Reasoning: Qualitative, Geometric, Spatial, Temporal Reasoning","Planning and Scheduling: Temporal and Hybrid Planning","Robotics: Behavior and Control"],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}