Design and implementation of a real time planning system for autonomous robots

This work proposes a system design for real time planning for autonomous robots and aims to develop a soccer team for robot-soccer competitions. The robotic soccer environment is multiagent and both cooperative and competitive goals are available. Domain independent planners are used in order to benefit from their advantages. The planner system is implemented in Java and uses the FastForward planner. The implementation was tested in the TeamBois environment against four different teams. The results show that after sufficient number of runs if the planning engine stores the top requested 1000 plans in the reactive planning module, it returns plans immediately 95 percent of the time which enables our system to behave as a real time planning system.