Model Based Continual Planning and Control Framework for Assistive Robots

Abstract

The paper presents a model based robot planning and control framework for human assistive robots of medical domain, namely for Scrub Nurse Robots. We focus on endoscopic surgery as one of the most relevant surgery type for the use of robotic assistants. We demonstrate that our framework provides means for seamless integration of sensor data capture, cognitive functions, model based continual planning and direct actuator control. The novel component of the architecture is a distributed continual planning system implemented based on the Uppaal model checking and testing tool suite. The distributed and the contract-based modular architecture of proposed framework enables flexible online reconfiguration and adaptability to various applications, but also safe installation of new software components on-the-fly.