| Karen Zita Haigh | Manuela M. Veloso | |
| k h a i g h@cs.cmu.edu | m m v@cs.cmu.edu | |
| http://www.cs.cmu.edu/~khaigh | http://www.cs.cmu.edu/~mmv |
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 PRODIGY4.0 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.
