Planning, execution and monitoring in the RoboCup@Home general purpose servie robot challenge

In this report, firstly an existing integrated architecture of planning and execution for Domestic Service Robots is reviewed. Performance of the architecture is illustrated by the coke transporting experiment. The main components of the architecture are explained in details in section 3 and 4. In section 5, inspired by the work in [7], a monitoring architecture which is compatible with the current system is proposed. By adding a Planning Problem Tracker, we can do replanning based on an updated initial state. By categorizing errors, more systematic error recovery strategies can be adopted. By adding validation operators in the Planning Domain, the system can perform a constant execution monitoring. At the moment an illustrative example is not available yet. Further research and implementation will continue in my graduation project.