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Authors: Maximillian Kirsch ; Shubham Pawar ; Alexander Ferrein and Stefan Schiffer

Affiliation: Mobile Autonomous Systems and Cognitive Robotics Institute (MASCOR), FH Aachen University of Applied Sciences, Eupener Str. 70, 52066 Aachen, Germany

Keyword(s): Robot High-Level Control, Mission Level Planning, GOLOG, ROS, Quadruped Robot.

Abstract: The Robot Operating System has become the de facto standard middleware in the robotics field. ROS offers a large variety of state-of-the-art algorithms and solutions for robotics problems ranging from localisation to manipulator control. For most robot systems available on the market, a ROS or ROS2 driver exists. When it comes to high-level control, relatively few packages and approaches exist inside the ROS ecosystem. In this paper, we report on our efforts to integrate the well-known action language GOLOG with ROS2 in order to enable rescue missions for our Boston Dynamic Spot robot in the RoboCup Rescue scenario.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Kirsch, M.; Pawar, S.; Ferrein, A. and Schiffer, S. (2024). GOLOG++ Hits the (Right) Spot: Interfacing Golog with a Quadruped Rescue Robot for High-Level Missions. In Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART; ISBN 978-989-758-680-4; ISSN 2184-433X, SciTePress, pages 1052-1059. DOI: 10.5220/0012433400003636

@conference{icaart24,
author={Maximillian Kirsch. and Shubham Pawar. and Alexander Ferrein. and Stefan Schiffer.},
title={GOLOG++ Hits the (Right) Spot: Interfacing Golog with a Quadruped Rescue Robot for High-Level Missions},
booktitle={Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART},
year={2024},
pages={1052-1059},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012433400003636},
isbn={978-989-758-680-4},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART
TI - GOLOG++ Hits the (Right) Spot: Interfacing Golog with a Quadruped Rescue Robot for High-Level Missions
SN - 978-989-758-680-4
IS - 2184-433X
AU - Kirsch, M.
AU - Pawar, S.
AU - Ferrein, A.
AU - Schiffer, S.
PY - 2024
SP - 1052
EP - 1059
DO - 10.5220/0012433400003636
PB - SciTePress

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