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GET-Forschungsseminar Abstracts

Master's Thesis Intermediate Presentation:Automated Planning for Behavior Control of Autonomous Rescue Robots

Pranav Avekar, GET Lab

Presentation: 10.04.2024, 16:30h, P 1.4.18

Abstract:

Rescue robots working in unknown environments should have a robust behavior control system to effectively deal with unforeseen events using the available resources and capabilities of the robot. Traditionally, finite state machines are utilized to construct behavior control systems. 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. In this thesis, a behavior control system for autonomous robots was developed based on the Problem Domain Definition Language (PDDL) and the PlanSys2 framework. The developed system efficiently addresses newly occurring changes in the working environment by generating new plans as required. Furthermore, the behavior control system includes a graphical user interface, enhancing user interaction and facilitating the visualization of ongoing operations.