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

Maximillian Kirsch, Victor Mataré, Alexander Ferrein, Stefan Schiffer

2020

Abstract

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 integrating 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.

Paper Citation

in Harvard Style

Kirsch M., Mataré V., Ferrein A. and Schiffer S. (2020). Integrating golog++ and ROS for Practical and Portable High-level Control. In Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART, ISBN 978-989-758-395-7, pages 692-699. DOI: 10.5220/0008984406920699

in Bibtex Style

@conference{icaart20,
author={Maximillian Kirsch and Victor Mataré and Alexander Ferrein and Stefan Schiffer},
title={Integrating golog++ and ROS for Practical and Portable High-level Control},
booktitle={Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,},
year={2020},
pages={692-699},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008984406920699},
isbn={978-989-758-395-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 12th International Conference on Agents and Artificial Intelligence - Volume 2: ICAART,
TI - Integrating golog++ and ROS for Practical and Portable High-level Control
SN - 978-989-758-395-7
AU - Kirsch M.
AU - Mataré V.
AU - Ferrein A.
AU - Schiffer S.
PY - 2020
SP - 692
EP - 699
DO - 10.5220/0008984406920699