ROSPlan: Planning in the Robot Operating System

@inproceedings{Cashmore2015ROSPlanPI,
  title={ROSPlan: Planning in the Robot Operating System},
  author={Michael Cashmore and Maria Fox and Derek Long and Daniele Magazzeni and Bram Ridder and Arnau Carrera and Narc{\'i}s Palomeras and Nat{\`a}lia Hurt{\'o}s and Marc Carreras},
  booktitle={International Conference on Automated Planning and Scheduling},
  year={2015}
}
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… 
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