ASPiC: an Acting system based on Skill Petri net Composition - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2018

ASPiC: an Acting system based on Skill Petri net Composition

Résumé

While developing automated planning algorithms helps in making robots more autonomous, the development of acting systems is also of major concerns. Acting systems aim at refining high-level actions into executable commands, while managing access to resources, possible failures, or any other kind of unpredictable situation from the planner point of view. Improving the trust on autonomous robots also requires to have a formal model of acting, and the capability to perform some analysis on this model. In this paper, we present ASPiC, an acting system based on the modeling of robot's skills using a specific control-flow Petri net model. The skills can then be combined using well-defined operators to build a complete plan that refines a high-level action. Some good properties are guaranteed by construction, while others can be verified on the resulting plan model. This paper also presents the application of ASPiC to an area protection mission by an autonomous surface vehicle.
Fichier principal
Vignette du fichier
DTIS18202.1531487356.pdf (810.47 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01961211 , version 1 (19-12-2018)

Identifiants

Citer

Charles Lesire, Franck Pommereau. ASPiC: an Acting system based on Skill Petri net Composition. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Oct 2018, Madrid, Spain. pp.6952--6958, ⟨10.1109/IROS.2018.8594328⟩. ⟨hal-01961211⟩
222 Consultations
203 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More