Towards Long-Term Autonomy Based on Temporal Planning

Yaniel Carreno, Ronald P. A. Petrick, Yvan R. Pétillot

Abstract: This paper investigates the application of temporal planning to multiple robots in long-term missions, using the OPTIC and POPF temporal planners. We design a new planning domain, motivated by a realistic indoor-outdoor scenario. In particular, we investigate plan concurrency, makespan and plan generation time in the multi-robot problem and propose a schema which has been shown to improve plan quality while significantly reducing planning time for the multi-agent problem. Experiments are done in simulation using ROS and Gazebo, and demonstrated in missions with concurrent actions. The ROSPlan framework is also extended to work with multiple robots and used to integrate the planners in ROS. OPTIC provides the best overall solution considering the domain complexity and mission execution in the environment.