Ezequiel Quintero², Ángel García-Olaya², Vidal Alcázar², Daniel Borrajo², Juan Fdez-Olivares³, César Guzmán¹, Eva Onaindía¹, David Prior³, Fernando Fernández³.
Universidad Carlos III de Madrid¹, Universidad Politècnica de València², Universidad de Granada³

This paper appears in: AAAI-11 Workshop on Automated Action Planning for Autonomous Mobile Robots, PAMR, San Francisco, USA.

Issue Date: Ago. 7, 2011

Abstract - download article
In this paper, we describe the integration of a robot control platform (Player/Stage) and a real robot (Pioneer P3DX) with PELEA (Planning, Execution and LEarning Architecture). PELEA is a general-purpose planning architecture suitable for a wide range of real world applications, from robotics to emergency management. It allows planning engineers to generate planning applications since it integrates planning, execution, re-planning, monitoring and learning capabilities. We also present a relational learning approach for automatically modeling robot-action execution durations, with the purpose of improving the planning process of PELEA by refining domain definitions.