Implementing BDI Continual Temporal Planning for Robotic Agents

TL;DR

This paper presents a BDI-based continuous temporal planning framework integrated with ROS2, enabling autonomous agents to adaptively replan in real-time based on environmental changes and temporal constraints.

Contribution

It introduces a novel integration of BDI architecture with online continuous temporal planning using ROS2 and JavaFF, enhancing agent adaptability and decision-making.

Findings

Successfully implemented in ROS2 environment

Enables real-time replanning based on environmental changes

Improves agent responsiveness and flexibility

Abstract

Making autonomous agents effective in real-life applications requires the ability to decide at run-time and a high degree of adaptability to unpredictable and uncontrollable events. Reacting to events is still a fundamental ability for an agent, but it has to be boosted up with proactive behaviors that allow the agent to explore alternatives and decide at run-time for optimal solutions. This calls for a continuous planning as part of the deliberation process that makes an agent able to reconsider plans on the base of temporal constraints and changes of the environment. Online planning literature offers several approaches used to select the next action on the base of a partial exploration of the solution space. In this paper, we propose a BDI continuous temporal planning framework, where interleave planning and execution loop is used to integrate online planning with the BDI control-loop. The framework has been implemented with the ROS2 robotic framework and planning algorithms offered by JavaFF.