Towards CLIPS-based Task Execution and Monitoring with SMT-based Decision Optimization


In robotics, automated task planning is still the exception rather than the norm. While generating a plan certainly represents a crucial aspect, another often neglected one, in particular relevant to integration in robotics, is the task-level executive. It forms the coherent behavior out of the determined plan to achieve the mission goals. This work presents first results towards the integration of a knowledge-based plan executive. This work is embedded in a project to generate guaranteed-quality plans based on Satisfiability Modulo Theory (SMT) in industrial scenarios. The initial prototype is integrated based on the scenario of logistics robots in simulation.

Workshop on Planning and Robotics (PlanRob) at International Conference on Automated Planning and Scheduling (ICAPS)