Constraint-based Transformations of Abstract Task Plans into Executable Actions for Autonomous Robots

近年来，在人类居住环境中运行的自主移动的机器人领域的研究取得了重大进展。然而，当涉及到稳健地执行高级机器人计划时，问题仍然存在。原因在于，执行看似简单的操作（例如驾驶到特定位置）需要许多相互依赖的系统组件以复杂的方式协同工作;这会产生过多的潜在错误源。虽然存在试图解决这种协调问题的方法，但从用户的角度来看，机器人的任务和系统要求之间没有明确的分离。缺点是规划任务变得更加复杂，并且应用程序特定于特定的平台。这反过来又要求用户对系统有深刻的理解。相比之下，该项目设想将高级任务与如何在机器人上执行它的内部要求分开。这个想法是在运行时转换一个特定的计划，以这种方式，所需的系统组件及其依赖关系自动集成的基础上声明性语言规范。同时，将提供执行监测和可能的错误恢复所需的信息。结果将在不同的移动的机器人在家庭环境中进行评估。

In recent years, research in the field of autonomous mobile robots operating in human-populated environments has seen significantprogress. However, when it comes to robustly executing high-level robot plans, problems remain. The reason is that the execution of seemingly simple actions such as driving to a specific location requires many interdependent system components working together in a complex way; this yields a plethora of potential error sources. While approaches exist that try to solve this coordination problem, there is no explicit separation between the task of the robot and the system requirements from a user point of view. The disadvantages are that the planning task becomes more complex and applications are specific to a particular platform. This in turn requires deep system understanding on the side of the user. In contrast, this project envisions to separate the high-level task from internal requirements of how to execute it on the robot. The idea is to transform a particular plan at runtime in such a way that the required system components together with their dependencies are automatically integrated based on a declarative language specification. At the same time, information needed for execution monitoring and and possible error recovery will be provided. The results will be evaluated on different mobile robots in domestic environments.