... | ... | @@ -6,10 +6,10 @@ As such, SkiROS allows the end-user to specifying the task to perform in a compa |
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This can be related to the planning and execution layer of a classical 3-layered robot control architecture.
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Robots coordinated with SkiROS can be used in partially structured environments, where the robot has a good initial understanding of the environment, but it is also expected to find discrepancies and react accordingly.
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Robots coordinated with SkiROS can be used in partially structured environments, where the robot has a good initial understanding of the environment, but it is also expected to find discrepancies, fail using initial plans and react accordingly.
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### Why SkiROS?
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SkiROS goal is to integrate together two fundamental processes necessary to coordinate highly complex systems: task scheduling and task planning.
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SkiROS goal is to integrate together two fundamental processes necessary to coordinate complex systems acting in unstructured environments: task scheduling and task planning.
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Task planning methods guarantee to find the best action to perform at any time, with a in-depth analysis of the actions' state space. This comes at the cost of an high computational time and subsequent slow reaction time. On the other hand, well designed hand-made procedures encoded in models such as [Hierarchical Finite State Machines](http://wiki.ros.org/smach) or [Behavior Trees](http://wiki.ros.org/decision_making) are indeed able to perform a task while monitoring a restricted set of conditions, at the cost of a lower generality with respect to a planning-based system.
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... | ... | @@ -23,4 +23,4 @@ SkiROS provides a set of interfaces to extend the knowledge base and run reasoni |
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# Tutorials
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* [[Installation|install]]
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* [[Test installation|test_installation]]
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* [[System overview|System overview]] |
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* [[System overview]] |
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