Causing a robot to execute a mission using a task graph and a task library

A method of causing one or more robots to execute a mission, the method comprising:

• identifying the mission including a nominal sequence of selected tasks that are executable to cause the one or more robots to execute maneuvers to achieve a mission objective;
• determining a task graph in which the mission is modeled, wherein the task graph is expressed as a directed graph charting selected task nodes representing the selected tasks that are connected by edges representing transitions between the selected tasks;
• wherein one or more of the edges representing transitions between the selected tasks is associated with a level of contingency;
• transitioning from one of the selected tasks to another one of the selected tasks according to the level of contingency;
• and
• causing the one or more robots to execute the mission using the task graph and a task library of tasks including a selected task executable to cause the one or more robots to execute a maneuver.

A computer-readable storage medium for causing one or more robots to execute a mission, the computer-readable storage medium being non-transitory and having computer-readable program code stored therein that, in response to execution by processing circuitry, causes an apparatus to at least:

• identify the mission including a nominal sequence of selected tasks that are executable to cause the one or more robots to execute maneuvers to achieve a mission objective;
• determine a task graph in which the mission is modeled, wherein the task graph is expressed as a directed graph charting selected task nodes representing the selected tasks that are connected by edges representing transitions between the selected tasks;
• wherein one or more of the edges representing transitions between the selected tasks is associated with a level of contingency;
• transition from one of the selected tasks to another one of the selected tasks according to the level of contingency;
• and
• cause the one or more robots to execute the mission using the task graph and a task library of tasks including a selected task executable to cause the one or more robots to execute a maneuver.