On-board Planning for Robotic Space Missions using Temporal PDDL

Coles, Amanda and Coles, Andrew and Martínez, Moisés and Savas, Emre and Keller, Thomas and Pommerening, Florian and Helmert, Malte. (2019) On-board Planning for Robotic Space Missions using Temporal PDDL. In: Proceedings of the 11th International Workshop on Planning and Scheduling for Space (IWPSS). pp. 1-9.

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Official URL: https://edoc.unibas.ch/74989/

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The desire for persistent autonomy in ambitious robotic space missions has seen renewed interest in the use of on-board planning. This poses particular challenges in terms of the limited computational power of radiation-hardened hardware, and also the need to integrate with functions external to the planner itself. In this paper, we discuss the development of a forward-chaining temporal planner for use in this setting. We present results illustrating its lightweight resource footprint compared to contemporary planners, and its application to two proposed robotic space scenarios.
Faculties and Departments:05 Faculty of Science > Departement Mathematik und Informatik > Informatik > Artificial Intelligence (Helmert)
UniBasel Contributors:Keller, Thomas and Helmert, Malte and Pommerening, Florian
Item Type:Conference or Workshop Item, refereed
Conference or workshop item Subtype:Conference Paper
Note:Publication type according to Uni Basel Research Database: Conference paper
Last Modified:10 Mar 2020 13:27
Deposited On:10 Mar 2020 13:27

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