ROSPlan: Planning in the Robot Operating System


  • Michael Cashmore King's College London
  • Maria Fox King's College London
  • Derek Long King's College London
  • Daniele Magazzeni King's College London
  • Bram Ridder King's College London
  • Arnau Carrera University of Girona
  • Narcis Palomeras University of Girona
  • Natalia Hurtos University of Girona
  • Marc Carreras University of Girona



Artificial Intelligence Planning, ROS, AUV


The Robot Operating System (ROS) is a set of software libraries and tools used to build robotic systems. ROS is known for a distributed and modular design. Given a model of the environment, task planning is concerned with the assembly of actions into a structure that is predicted to achieve goals. This can be done in a way that minimises costs, such as time or energy. Task planning is vital in directing the actions of a robotic agent in domains where a causal chain could lock the agent into a dead-end state. Moreover, planning can be used in less constrained domains to provide more intelligent behaviour. This paper describes the ROSP LAN framework, an architecture for embedding task planning into ROS systems. We provide a description of the architecture and a case study in autonomous robotics. Our case study involves autonomous underwater vehicles in scenarios that demonstrate the flexibility and robustness of our approach.




How to Cite

Cashmore, M., Fox, M., Long, D., Magazzeni, D., Ridder, B., Carrera, A., Palomeras, N., Hurtos, N., & Carreras, M. (2015). ROSPlan: Planning in the Robot Operating System. Proceedings of the International Conference on Automated Planning and Scheduling, 25(1), 333-341.