PRS: a high level supervision and control language for autonomous mobile robots

Ingrand, Félix; Chatila, Raja; Alami, Rachid; Robert, Frédéric

doi:10.1109/robot.1996.503571

Cited by 101 publications

(62 citation statements)

References 8 publications

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“…Some approaches propose the use of a strong executive, enhanced with deliberative capabilities. Procedural executives, such as TDL [29] or OpenPRS [30], support action decomposition, synchronization, execution monitoring and exception handling. In PROPEL [31], and PropicePlan [32], the planner is used by the executive to anticipate by simulating subplans, or to generate a new subplan corresponding to the current situation.…”

Section: Decisional Level : Temporal Planning Temporal Executivementioning

confidence: 99%

“…They all share the same philosophy even if they differ in their details. The procedural executive remains a critical and important part of our architecture, yet, its capabilities, its properties and its implementation have already been discussed at length in various papers [5], [30]. Nevertheless, we briefly present it here, focusing on its integration with the other components.…”

Section: A Procedural Executive: Openprsmentioning

confidence: 99%

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Decisional autonomy of planetary rovers

Ingrand

Lacroix

Lemai-Chenevier

et al. 2007

Journal of Field Robotics

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To achieve the ever increasing demand for science return, planetary exploration rovers require more autonomy to successfully perform their missions. Indeed, the communication delays are such that teleoperation is unrealistic. Although the current rovers (such as MER) demonstrate a limited navigation autonomy, and mostly rely on ground mission planning, the next generation (e.g. NASA Mars Science Laboratory and ESA Exomars) will have to regularly achieve long range autonomous navigation tasks.However, fully autonomous long range navigation in partially known planetary-like terrains is still an open challenge for robotics. Navigating hundreds of meters without any human intervention requires the robot to be able to build adequate representations of its environment, to plan and execute trajectories according to the kind of terrain traversed, to control its motions and to localize itself as it moves.All these activities have to be planned, scheduled, and performed according to the rover context, and controlled so that the mission is correctly fulfilled. To achieve these objectives, we have developed a temporal planner and an execution controller, that exhibit plan repair and replanning capabilities. The planner is in charge of producing plans composed of actions for navigation, science activities (moving and operating instruments), communication with Earth and with an orbiter or a lander, while managing resources (power, memory, etc) and respecting temporal constraints (communication visibility windows, rendezvous, etc). High level actions also need to be refined and their execution temporally and logically controlled. Last, in such critical applications, we believe it is important to deploy a component which protects the system against dangerous or even fatal situations resulting from unexpected interactions between subsystems (e.g. move the robot while the robot arm is unstowed) and/or software components (e.g. take and store a picture in a buffer while the previous one is still being processed).In this article we review the aforementioned capabilities, that have been developed, tested and evaluated on board our rovers (Lama and Dala). After an overview of the architecture design principle adopted, we summarize the perception, localization and motion generation capabilities -required by autonomous navigation -and their integration and concurrent operation in a global architecture. We then detail the decisional components : a high level temporal planner which produces the robot activity plan on board, and temporal and procedural execution controllers. We show how some failures or execution delays are being taken care of with online local repair, or replanning.

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Section: Decisional Level : Temporal Planning Temporal Executivementioning

confidence: 99%

Section: A Procedural Executive: Openprsmentioning

confidence: 99%

Decisional autonomy of planetary rovers

Ingrand

Lacroix

Lemai-Chenevier

et al. 2007

Journal of Field Robotics

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“…actions associated to monitors|, multi levels feedback c o n trol, and so on). PRS 9,8] is composed of a set of tools and methods to represent and execute plans and procedures.…”

Section: The Generator Of Modules G En Ommentioning

confidence: 99%

Multi-robot cooperation in the MARTHA project

Alami

Fleury

Herrb

et al. 1998

IEEE Robot. Automat. Mag.

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204

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The Martha 1 project objectives are the control and the management of a eet of autonomous mobile robots for transshipment tasks in harbours, airports and marshaling yards. Our presentation focuses on one of the most challenging and key problems of the Martha project: the multi robot cooperation. Indeed, high level missions are produced by a Central Station and sent to robots. It is then up to the robots to re ne their missions, to plan their actions and trajectories in the environment and to coordinate these actions and trajectories with the other robots. In particular, these coordinations occur in crossings, in lanes when unexpected obstacles require the robot to move in the opposite lane, and in open areas where robots need to synchronise their trajectories.We present a general concept for the control of a large eet of autonomous mobile robots which has been developed, implemented and validated in the framework of Martha.Numerous researches have been conducted in the autonomous mobile robot eld, nevertheless, the Martha project is the rst one to add the multi robot cooperation capabilities to such a large eet of robots.The Martha robots demonstrate advanced autonomous features including non-holonomic motion planning, environment modelling, sensor-based obstacle avoidance, and decentralised cooperation schemes at mission and trajectory levels.

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“…The higher level uses a temporal planner, like IxTeT [14]. The second one, usually based on PRS [16], receives tasks that it transforms into scripts (procedures composed of elementary robot actions) and supervises script execution while being reactive to asynchronous events and environment conditions. The functional level embeds a set of elementary robot tasks implementing servo-loops and the robot primitive functions (motion planner, perception, etc.…”

Section: The Laas Architecturementioning

confidence: 99%