Using Perception Information for Robot Planning and Execution

Abstract

We present Rogue, an integrated planning and executing robotic agent. Rogue is designed to be a roving office gopher, doing tasks such as picking up & delivering mail and returning & picking up library books, in a setup where users can post tasks for the robot to do. We have been working towards the goal of building Rogue as a completely autonomous agent which can learn from its experiences improving its own behaviour. In this paper, we focus on describing Rogue's capabilities in executing and processing perception information, including: (1) the generation and execution of a plan which requires observation to make informed planning decisions, and (2) the monitoring of execution for informed replanning. Rogue is implemented and functional on a real indoor robot.