Integrating golog++ and ROS for Practical and Portable High-level Control

  • The field of Cognitive Robotics aims at intelligent decision making of autonomous robots. It has matured over the last 25 or so years quite a bit. That is, a number of high-level control languages and architectures have emerged from the field. One concern in this regard is the action language GOLOG. GOLOG has been used in a rather large number of applications as a high-level control language ranging from intelligent service robots to soccer robots. For the lower level robot software, the Robot Operating System (ROS) has been around for more than a decade now and it has developed into the standard middleware for robot applications. ROS provides a large number of packages for standard tasks in robotics like localisation, navigation, and object recognition. Interestingly enough, only little work within ROS has gone into the high-level control of robots. In this paper, we describe our approach to marry the GOLOG action language with ROS. In particular, we present our architecture on inte grating golog++, which is based on the GOLOG dialect Readylog, with the Robot Operating System. With an example application on the Pepper service robot, we show how primitive actions can be easily mapped to the ROS ActionLib framework and present our control architecture in detail.

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Metadaten
Author:Maximilian Kirsch, Victor Mataré, Alexander FerreinORCiD, Stefan SchifferORCiD
DOI:https://doi.org/10.5220/0008984406920699
Parent Title (English):Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2
Publisher:SciTePress
Place of publication:Setúbal, Portugal
Document Type:Conference Proceeding
Language:English
Year of Completion:2020
First Page:692
Last Page:699
Note:
Proceedings of the 12th International Conference on Agents and Artificial Intelligence: ICAART 2020, Valletta, Malta
Link:https://doi.org/10.5220/0008984406920699
Zugriffsart:weltweit
Institutes:FH Aachen / Fachbereich Elektrotechnik und Informationstechnik
FH Aachen / MASKOR Institut für Mobile Autonome Systeme und Kognitive Robotik
open_access (DINI-Set):open_access
Licence (German): Creative Commons - Namensnennung-Nicht kommerziell-Keine Bearbeitung