Can ROSPlan be used to control multirobot?

[wangjiwang]

Hi, I am new to ROSPlan. Can ROSPlan be used to control multirobot? If yes, could you share me links to some examples? Thanks a lot.

[eferreirafilho]

Yes, it can. But it seems that there are some caveats.

In [1] the author states that: "[...] we noticed that ROSPlan does not fully support the implementation of concurrent actions in homogeneous robots. In ROSPlan, only one action execution node is running. This means that in situations where the same type of action must be executed, the handler process is blocked until it completes the action on a single robot. Concurrently dispatched actions are therefore executed sequentially, affecting makespan performance. We overcome this problem by defining a set of individual actions for each robot. For homogeneous robots the action set is the same, and corresponds to an individual robot (defined in the domain as a new type)."

Carreno, Y., Petrick, R. P., & Petillot, Y. (2019, June). Multi-agent strategy for marine applications via temporal planning. In 2019 IEEE Second International Conference on Artificial Intelligence and Knowledge Engineering (AIKE) (pp. 243-250). IEEE.