Model-Based AI planning and Execution Systems for Robotics
Or Wertheim, Ronen I. Brafman·May 07, 2025
Summary
Model-based AI planning systems automate robotics task execution, using AI planners and robotic platforms. SkiROS2 simplifies interactions between skills, integrates with ROS1, and offers tools for robot development and GUI management. It emphasizes safety and reliability through automated model checking and fault-tolerance, featuring a skill-based architecture, planning, event mechanisms, and a Resource Manager. Users must create a skill fault model, and the system supports large language models for translating natural language into planning goals.
Introduction
Background
Overview of AI planning systems in robotics
Objective
To explore the role of model-based AI planning systems in automating robotics task execution, focusing on SkiROS2 as a key tool
SkiROS2: Simplifying AI Planning in Robotics
Features and Benefits
Integration of skills and ROS1
Tools for robot development and GUI management
Safety and Reliability
Automated model checking for safety verification
Fault-tolerance mechanisms for robust operation
Skill-based Architecture
Skill Definition
Components and structure of skills
Skill Execution
How skills are orchestrated and executed
Planning and Event Mechanisms
Planning Process
Overview of AI planning algorithms
Event Handling
Role of events in skill coordination and task execution
Resource Management
Resource Allocation
Dynamic resource management for efficient task execution
Resource Tracking
Monitoring and optimization of resource usage
Skill Fault Model
Model Creation
Steps for creating a skill fault model
Fault Detection and Recovery
Mechanisms for identifying and recovering from skill failures
Large Language Models
Natural Language Processing
Utilization of large language models for task specification
Translation to Planning Goals
Process of converting natural language into actionable planning goals
Conclusion
Summary of SkiROS2's capabilities
Future directions in model-based AI planning systems
Basic info
papers
robotics
artificial intelligence
Advanced features