Selected Publications

Especially in robotics contexts, even seemingly simple planning problems can pose dire challenges. Plans need to be created frequently in short time. We address this challenge modeling the planning domain and proble, as well as the search, directly using Answer Set Programming (ASP). In particular, we model the search to only yield a partial plan with a limited lookahead and apply a useful metric to ensure progress over several planning iterations. We use the multi-shot solving capabilities of the Clingo solver to tackle the most pressing performance issues.
Proceedings of the 28th International Conference on Automated Planning and Scheduling (ICAPS), 2018

Robots often plan for the same or very similar goals. We exploit this by storing successful plans in a database and then extracting frequent action sub-sequences. We than calculate macro operators to speed up further planning. In this work, we support the STRIPS subset of PDDL.
Proceedings of the 27th International Conference on Automated Planning and Scheduling (ICAPS), 2017

To bridge the gap between the robotics and planning communities, and to provide a common evaluation testbed in crossover researc in these areas, we have created the Planning and Execution Competition for Logistics Robots in Simulation. This paper gives an overview of that competition.
International Conference on Automated Planning and Scheduling (ICAPS) - Workshop on Planning and Robotics (PlanRob), 2016

During operation of robots large amounts of data are produced and processed for instance in perception, actuation, or decision making. Nowadays this data is typically volatile and disposed right after use. But this data can be valuable and useful later. Therefore we propose a database system that taps into common robot middleware to record any and all data produced at run-time. We present two examples using this data in fault analysis and performance evaluation and describe real-world experiments run on the domestic service robot HERB.
IEEE International Conference on Intelligent Robots and Systems (IROS), 2012

Recent Publications

More Publications

. ASP-based Time-Bounded Planning for Logistics Robots. Proceedings of the 28th International Conference on Automated Planning and Scheduling (ICAPS), 2018.

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. CLIPS-based Execution for PDDL Planners. Proceedings of the 28th International Conference on Automated Planning and Scheduling (ICAPS), WS on Integrated Planning, Acting and Execution, 2018.

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. Towards CLIPS-based Task Execution and Monitoring with SMT-based Decision Optimization. Workshop on Planning and Robotics (PlanRob) at International Conference on Automated Planning and Scheduling (ICAPS), 2017.

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. Towards an Integrated Approach to Planning and Execution. Planning and Robotics (Dagstuhl Seminar 17031), 2017.

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. Cyber-Physical System Intelligence - Knowledge-Based Mobile Robot Autonomy in an Industrial Scenario. Chapter in Industrial Internet of Things: Cybermanufacturing Systems, 2017.

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. Initial Results on Generating Macro Actions from a Plan Database for Planning on Autonomous Mobile Robots. Proceedings of the 27th International Conference on Automated Planning and Scheduling (ICAPS), 2017.

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Recent & Upcoming Talks

More Talks

ASP-based Time-Bounded Planning with CLIPS-based Multi-Robot Execution
May 3, 2018 14:00
AAAI 2018 Tutorial: Cognitive Robotics in Industrial Settings Competitions
Feb 3, 2018 14:00
Towards an Integrated Approach to Planning and Execution
Jan 17, 2017 11:00
Knowledge-Based Mobile Robot Autonomy in an Industrial Logistics Scenario
Aug 1, 2016 13:30

Recent Posts

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    RWTH Aachen University, 52074 Aachen, Germany
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