Source Code

This repository is implementation of Risk-averse Planning Framework for Marine Robots

planGeneration

To see instruction go into planGeneration folder

planEvaluation

To see instruction go into planEvaluation folder

Planner

Having executed the run_program inside planGeneration, Json file for possible actions generated called [problemName].actions.json in results folder, and for visualization you can refer to [problemName].png

SafePlanner

• We modified Safe-Planner which supports extension of PDDL files for probabilistic planning (PPDDL) and it includes all well-known deterministic planners
• system requirement: Refer to Safe-Planner GitHub

Plan Selection

• Using Risk-averse planner, you can have all possible outcomes; we save the safest plan in graph dot, json, and PNG file. It is also possible to see other sub-plans in your /tmp folder

Plan Execution

• To execute specific plan, you should download specific scenario from remaro_scenarios GitHub. We support 5 different plans.

Acknowledgements

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under the Marie Skłodowska-Curie grant agreement No. 956200.

Pleave visit our website for more info on our project.