Computer Science Department, Carnegie Mellon University
Invited submission to Autonomous Robots, 5(1):79-95, March 1998.
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 ROGUE 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.