Automated Planning for Behavior Control of Autonomous Rescue Robots

P. Avekar

The basis of every autonomous robot is a suitable behavior control system. Traditionally, finite state machines (FSMs) are used to construct behavior control systems. As rescue robots need to work in unknown environments, it is difficult to develop a complex yet flexible behavior control system with FSMs. However, automated planner based systems can overcome the drawbacks of FSMs and ease the development of flexible behavior control systems. This thesis aims to develop a behavior control system for autonomous robots using the Problem Domain Definition Language (PDDL). The integration of this system with the Robot Operating System (ROS) will be done using the PlanSys2 framework. Finally, the behavior control system will be equipped with a graphical user interface for easy interaction and visualization of ongoing operations.