Integrating a PDDL-Based Planner and a PLEXIL-Executor into the Ptinto Robot

Ptinto is a prototype of a hexapod robot for exploration tasks in rocky and cumbersome areas. The main objective of this prototype is to design and test a complex kinematic control system, including both new hardware and software technologies. In this paper we describe the autonomous architecture that we have developed for the control of the system. We use a deliberator that must be able to make a safe trajectory between two or more points avoiding obstacles. When a trajectory has been created, the executive takes this plan to control Ptinto via the hardware abstraction layer. This is a classical 3T architecture implementation with two general purpose systems: a PDDL planner as the deliberator, and a PLEXIL executor.

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