A language for sequence specification for sequencing autonomous robots skills

Abstract

In the interaction between humans and robots it is necessary a mechanism to specify robot's tasks. One of them, is to define the sequence of tasks to do using a language that the robot is able to interpret and perform. The AD architecture, used in this work for the control of the mobile robot, uses task sequencing in its two abstraction levels: automatic and deliberative. A sequence is defined as a specification in which actions that must performed in a concurrent or sequential way are detailed. These actions consist of deliberative or automatic skills, changes in the environment that generate execution changes, and the new actions to perform that allow sequence evolution. This paper presents a sequencer language that allows to describe a sequence of skills in order to make the robot accomplish different tasks such as navigation or to build complex skills. Each sequence is made up of a set of processes which can be executed in a sequential or concurrent way, depending on the actions associated to set of rules belonging to each process