Agile Tasking of Robotic Systems with Explicit Autonomy

Rafael C. Cardoso; John L. Michaloski; Craig Schlenoff; Angelo Ferrando; Louise A. Dennis; Michael Fisher

doi:10.32473/flairs.v34i1.128481

Authors

Rafael C. Cardoso The University of Manchester http://orcid.org/0000-0001-6666-6954
John L. Michaloski National Institute of Standards and Technology (NIST)
Craig Schlenoff National Institute of Standards and Technology (NIST)
Angelo Ferrando University of Genova https://orcid.org/0000-0002-8711-4670
Louise A. Dennis The University of Manchester https://orcid.org/0000-0003-1426-1896
Michael Fisher The University of Manchester https://orcid.org/0000-0002-0875-3862

DOI:

https://doi.org/10.32473/flairs.v34i1.128481

Keywords:

multi-agent systems, CRCL, Gwendolen, agile tasking, kitting

Abstract

Task agility is an increasingly desirable feature for robots in application domains such as manufacturing. The Canonical Robot Command Language (CRCL) is a lightweight information model built for agile tasking of robotic systems. CRCL replaces the underlying complex proprietary robot programming interface with a standard interface. In this paper, we exchange the automated planning component that CRCL used in the past for a rational agent in the Gwendolen agent programming language, thus providing greater possibilities for formal verification and explicit autonomy. We evaluate our approach by performing agile tasking in a kitting case study.

Agile Tasking of Robotic Systems with Explicit Autonomy

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