Making Robots Play by the Rules: The ROS 2 CLIPS-Executive
Tarik Viehmann, Daniel Swoboda, Samridhi Kalra, Himanshu Grover, Gerhard Lakemeyer
TL;DR
This paper presents the integration of the rule-based language CLIPS into the ROS 2 ecosystem, enhancing autonomous robot coordination with flexible planning capabilities.
Contribution
It introduces a novel integration of CLIPS with ROS 2 and demonstrates its flexibility through PDDL-based planning framework integration.
Findings
Successful implementation of CLIPS in ROS 2
Enhanced robot coordination with rule-based system
Flexible planning integration demonstrated
Abstract
CLIPS is a rule-based programming language for building knowledge-driven applications, well suited for the complex task of coordinating autonomous robots. Inspired by the CLIPS-Executive originally developed for the lesser known Fawkes robotics framework, we present an Integration of CLIPS into the ROS ecosystem. Additionally, we show the flexibility of CLIPS by describing a PDDL-based planning framework integration.
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Taxonomy
TopicsAI-based Problem Solving and Planning · Robotic Path Planning Algorithms · Modular Robots and Swarm Intelligence