Year: 2026
Type: article
Abstract: The lack of standardized interfaces remains one of the main barriers to the adoption of automated planning in robotic systems. To address this challenge, the AIPlan4EU project, part of the European AI4EU initiative, developed the Unified Planning Framework (UPF), a planner-independent ecosystem designed to facilitate access to automated planning technologies through a common API. This work presents UPF4ROS2, an open-source package that integrates the Unified Planning Framework (UPF) into ROS 2 (Robot Operating System 2), enabling interaction between planning and execution modules. UPF4ROS2 was integrated into PlanSys2 and MERLIN2 and evaluated through controlled replanning experiments and application-oriented robotic scenarios. A comparison against PlanSys2 baseline over 20 dynamic missions showed equivalent mission-level behaviour and equal plan lengths under the selected unit-action-count metric, with sub-second planning-service latencies in the controlled replanning experiment and quantified additional overhead in a more demanding temporal-numeric benchmark. The results indicate that planner-independent integration can be achieved without compromising autonomous task execution under the evaluated conditions.
Source: Scientific Reports
Authors: Irene González-Fernández, Miguel Á. González-Santamarta, Francisco Martín, Marco Roveri, Vicente Matellán-Olivera, Francisco J. Rodríguez-Lera
Language: English
Subfield: Artificial Intelligence
Field: Computer Science
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,690
OpenAlex ID: W7213774445
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