A General-Purpose Architecture to Control Mobile Robots

Complex robotic tasks require the coordination of a considerable amount of skills.This is generally achieved generating and executing action plans that fulfil the preconditions of the given objective. These tasks can be highly dynamic, since the appearance of new objects or unexpected situations is a constant during the plan execution. In this context, robot control systems require the capability of managing a suitable world model(creating, removing or retyping dynamically objects as a result of the plan execution), and the capability of monitoring and replanning when unexpected situations are detected. In this paper we introduce a general-purpose architecture for autonomous mobile robots providing these features. The architecture al-lows to generate planning applications since it integrates planning, re-planning, monitoring and learning capabilities, and, at the same time, manages a consistent graph-like world model. Finally, we present some preliminary results of the deployment of such architecture in an advertisement promoting robot domain.