Abstract
Software architectures in robotics organize perception and action to solve a problem. In this paper we present a description of the software architecture applied by our team in the Social Standard Platform League (SSPL) of the @home category of RoboCup. This league simulates a domestic scenario where the robot must interact with the dependent people who live in it to help them in their daylife. This architecture is designed to solve the tests of this league, addressing the integration of navigation, interaction, generation of behaviors and perception. Our architecture follows a three-layer organization where the core is a classic planner that uses Planing Domain Definition Language (PPDL). This architecture has been validated in the humanoid robot Pepper during our participation in the RoboCup 2018 in Montreal, Canada.
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Acknowledgments
The research leading to these results has received funding from the RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. fase III; S2013/MIT-2748), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU. It has also received funding from the RETOGAR project (TIN2016-76515-R) from the Spanish Ministerio de Economía y Competitividad. This research has received material from NVidia Grants Program.
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Martín-Rico, F., Ginés, J., Vargas, D., Rodríguez-Lera, F.J., Matellán-Olivera, V. (2019). Planning-Centered Architecture for RoboCup SSPL @Home. In: Fuentetaja Pizán, R., García Olaya, Á., Sesmero Lorente, M., Iglesias Martínez, J., Ledezma Espino, A. (eds) Advances in Physical Agents. WAF 2018. Advances in Intelligent Systems and Computing, vol 855. Springer, Cham. https://doi.org/10.1007/978-3-319-99885-5_20
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