An Executive is responsible for task execution on-board an autonomous robot. TREX is a hybrid executive combining goal-driven and event-driven behavior in a unified framework based on temporal plans and temporal planning. TREX uses a single declarative programming language and shared runtime state for both deliberation and execution offering a seamless integration between planning and control. TREX also provides explicit support for compositional control which improves modularity, scalability, and robustness. TREX was initially developed at the Monterey Bay Aquarium Research Institute for Adaptive Mission Control of Autonomous Underwater Vehicles. TREX has been deployed for a number of sea trials and science missions in the Monterey Bay. Some of the details of these field experiments are described here: http://www.mbari.org/autonomy/TREX/index.htm TREX is used and supported by Willow Garage as an integrated component of the ROS platform. |
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