Agile Tasking of Robotic Systems with Explicit Autonomy.
FLAIRS Conference(2021)
摘要
Task agility is an increasingly desirable feature for robots in application domains such as manufacturing. The Canonical Robot Command Language (CRCL) is a lightweight information model built for agile tasking of robotic systems. CRCL replaces the underlying complex proprietary robot programming interface with a standard interface. In this paper, we exchange the automated planning component that CRCL used in the past for a rational agent in the Gwendolen agent programming language, thus providing greater possibilities for formal verification and explicit autonomy. We evaluate our approach by performing agile tasking in a kitting case study.
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