Abstract—This paper presents a mobile robot planning
approach for solving the problem of indoor cleaning tasks. In
general, the robot must find its pose first and only then move to
the final destination to cleaning out. Our model works with a
multi-level planning approach where the mission is treated
online only. The user sets up the cleaning or the robot uses an
agenda with predefined set of missions. POMDP plans are
created for the localization, using the map and the robot
specifications. The plans are created offline only once and used
indefinitely regardless of missions. We will show the multi-level
planning process where the robot finds its pose in the high level
of representative rooms and then moves to the lower level to
finding its precise pose. We demonstrated the approach with
experiments on both simulator and real robot. The multi-level
planning allowed the robot to find its pose and fulfill the tasks of
the agenda faster while keeping the precision.
Index Terms—Cleaning robot tasking, localization, robotic
planning, POMDP.
P. Pinheiro, E. Cardozo, and E. Rohmer are with the School of Electrical
and Computer Engineering, University of Campinas, SP 6101 Brazil (e-mail:
pinheiro@ic.unicamp.br, eleri@dca.fee.unicamp.br,
erohmer@dca.fee.unicamp.br).
J. Wainer is with the Institute of Computing, University of Campinas, SP
13083-852 Brazil (e-mail: wainer@ic.unicamp.br).
Cite: Paulo Pinheiro, Eleri Cardozo, Jacques Wainer, and Eric Rohmer, "Cleaning Task Planning for an Autonomous Robot in Indoor Places with Multiples Rooms," International Journal of Machine Learning and Computing vol. 5, no. 2, pp. 86-90, 2015.