Conditional Planning in ROSPlan (posted March 21)
ROSPlan (https://kcl-planning.github.io/ROSPlan/) is a well known and established framework for the integration of automated planning techniques into robotic systems. It is build up above the Robot Operating System (ROS, https://www.ros.org/) and provides a template structure for all components (e.g. knowledge base, plan and goal interface, plan dispatcher, …) that are needed for the integration. The templates can be easily adapted for new planning paradigm. Classical action planning and plan execution even with its temporal version is well supported. Conditional planning where the plan can react to observations in the plan execution and the execution of such plans is not supported yet. Goal of the thesis is the conceptional (e.g. handling of sensing) as well as practical integration (e.g. implementation) of conditional planning into ROSPlan. The journey will start using an existing conditional planner like Contingent-FF (https://fai.cs.uni-saarland.de/hoffmann/cff.html).