SkiROS2: A Skill-Based Robot Control Platform for ROS

Matthias Mayr, Francesco Rovida, Volker Krueger

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

Abstract

The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even “batch size 1” in production created a need for robot control system architectures that can provide the required flexibility. Such architectures must not only have a sufficient knowledge integration framework. It must also support autonomous mission execution and allow for interchangeability and interoperability between different tasks and robot systems. We introduce SkiROS2, a skill-based robot control platform on top of ROS. SkiROS2 proposes a layered, hybrid control structure for automated task planning, and reactive execution, supported by a knowledge base for reasoning about the world state and entities. The scheduling formulation builds on the extended behavior tree model that merges task-level planning and execution. This allows for a high degree of modularity and a fast reaction to changes in the environment. The skill formulation based on pre-, hold-and post-conditions allows to organize robot programs and to compose diverse skills reaching from perception to low-level control and the incorporation of external tools. We relate SkiROS2 to the field and outline three example use cases that cover task planning, reasoning, multisensory input, integration in a manufacturing execution system and reinforcement learning.
Original languageEnglish
Title of host publication2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages6273-6280
Number of pages8
ISBN (Electronic)978-1-6654-9190-7
DOIs
Publication statusPublished - 2023 Dec 13
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 - Detroit, United States
Duration: 2023 Oct 12023 Oct 5

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Country/TerritoryUnited States
CityDetroit
Period2023/10/012023/10/05

Subject classification (UKÄ)

  • Robotics

Free keywords

  • Robot Skills
  • Robots
  • Industrial Robots
  • Knowledge Representation
  • Reasoning
  • Planning

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