Planning-Centered Architecture for RoboCup SSPL @Home

Software architectures in robotics organize perception and action to solve a problem. In this paper we present a description of the software architecture applied by our team in the Social Standard Platform League (SSPL) of the @home category of RoboCup. This league simulates a domestic scenario where the robot must interact with the dependent people who live in it to help them in their daylife. This architecture is designed to solve the tests of this league, addressing the integration of navigation, interaction, generation of behaviors and perception. Our architecture follows a three-layer organization where the core is a classic planner that uses Planing Domain Definition Language (PPDL). This architecture has been validated in the humanoid robot Pepper during our participation in the RoboCup 2018 in Montreal, Canada.

[1]  Pedro U. Lima,et al.  RoCKIn and the European Robotics League: Building on RoboCup Best Practices to Promote Robot Competitions in Europe , 2016, RoboCup.

[2]  Morgan Quigley,et al.  ROS: an open-source Robot Operating System , 2009, ICRA 2009.

[3]  José María Cañas,et al.  Behavior-based Iterative Component Architecture for robotic applications with the Nao humanoid , 2008 .

[4]  Sanjiv Singh,et al.  The 2005 DARPA Grand Challenge: The Great Robot Race , 2007 .

[5]  Maria Teresa Lazaro,et al.  A Practical Framework for Robust Decision-Theoretic Planning and Execution for Service Robots , 2016, ICAPS.

[6]  Francisco J. Rodríguez-Lera,et al.  HiMoP: A three-component architecture to create more human-acceptable social-assistive robots , 2018, Cognitive processing.

[7]  Rodney A. Brooks,et al.  Elephants don't play chess , 1990, Robotics Auton. Syst..

[8]  Tadao Murata,et al.  Petri nets: Properties, analysis and applications , 1989, Proc. IEEE.

[9]  Minoru Asada,et al.  RoboCup: Yesterday, Today, and Tomorrow Workshop of the Executive Committee in Blaubeuren, October 2003 , 2003, RoboCup.

[10]  Giorgio Metta,et al.  Towards long-lived robot genes , 2008, Robotics Auton. Syst..

[11]  Hiroaki Kitano,et al.  RoboCup: The Robot World Cup Initiative , 1997, AGENTS '97.

[12]  Sanjiv Singh,et al.  The 2005 DARPA Grand Challenge , 2007 .

[13]  Sanjiv Singh,et al.  The DARPA Urban Challenge: Autonomous Vehicles in City Traffic, George Air Force Base, Victorville, California, USA , 2009, The DARPA Urban Challenge.

[14]  Murray Campbell,et al.  Deep Blue , 2002, Artif. Intell..