Method and system for hierarchical decomposition of tasks and action planning in a robotic network

A robotic agent (100) for action planning in a robotic network, comprising:

• a memory module (101) storing a plurality of instructions;
• one or more communication interfaces (103);
• and
• one or more hardware processors (102) coupled to the memory module (101) via the one or more communication interfaces (103), wherein the one or more hardware processors (102) are configured by the instructions to:
• collect data pertaining to at least one goal that has been assigned to a robot with which the robotic agent is associated;
• decompose the at least one goal to a plurality of sub-goals;
• for each sub-goal:
• identify at least one target and at least one action on the target, as requirements corresponding to the sub-goal;
• identify a plurality of attributes corresponding to the at least one target, comprising:
• fetching said plurality of attributes from a local database of the at least one robot, if said plurality of attributes are available in the local database;
• fetching said plurality of attributes from a global database of the at least one robot, if said plurality of attributes are not available in the local database of the robot, and are available in the global database;
• and
• obtaining said plurality of attributes dynamically based on at least one real-time input obtained based on perception of the at least one robot;
• identify a set of attributes corresponding to the at least one action, comprising:
• fetching said set of attributes from the local database of the robot, if said plurality of attributes are available in the local database;
• fetching said plurality of attributes from the global database of the robot, if said plurality of attributes are not available in the local database of the robot, and are available in the global database;
• and
• obtaining said plurality of attributes dynamically based on at least one real-time input obtained based on perception of the at least one robot, if the plurality of parameters are not available from the local database and the global database;
• determine capability of the at least one robot, in terms of at least one specification of the at least one robot, by querying a robot capability knowledge base;
• and
• generate an action plan corresponding to the collected at least one goal, based on (i) the set of attributes corresponding to the at least one action, (ii) the plurality of attributes corresponding to the at least one target, (iii) the determined capability of the robot, (iv) data pertaining to environment in which the at least one robot is deployed, and (v) data pertaining to at least one algorithm to be executed by the at least one robot for executing the action plan.

A non-transitory computer readable medium for action planning in a robotic network, comprising:

• assigning at least one goal to at least one robot in the robotic network, via one or more hardware processors;
• collecting the assigned at least one goal, via the one or more hardware processors, by a robotic agent of the at least one robot;
• decomposing the at least one goal to a plurality of sub-goals, via the one or more hardware processors, by the robotic agent;
• for each sub-goal:
• identifying at least one target and at least one action on the target, as requirements corresponding to the sub-goal;
• identifying a plurality of attributes corresponding to the at least one target, comprising:
• fetching said plurality of attributes from a local database of the robot, if said plurality of attributes are available in the local database;
• fetching said plurality of attributes from a global database of the at least one robot, if said plurality of attributes are not available in the local database of the at least one robot, and are available in the global database;
• and
• obtaining said plurality of attributes dynamically based on at least one real-time input obtained based on perception of the at least one robot;
• identifying a set of attributes corresponding to the at least one action, comprising:
• fetching said set of attributes from the local database of the at least one robot, if said set of attributes are available in the local database;
• fetching said set of attributes from the global database of the at least one robot, if said set of attributes are not available in the local database of the at least one robot, and are available in the global database;
• and
• obtaining said set of attributes dynamically based on at least one real-time input obtained based on perception of the at least one robot, if the set of attributes are not available in the local database and the global database;
• determining capability of the at least one robot, in terms of at least one specification of the at least one robot, by querying a robot capability knowledge base;
• and
• generating an action plan corresponding to the collected at least one goal, based on (i) the set of attributes corresponding to the at least one action, (ii) the plurality of attributes corresponding to the at least one target, (iii) the determined capability of the at least one robot, (iv) data pertaining to an environment in which the at least one robot is deployed, and (v) data pertaining to at least one algorithm to be executed by the at least one robot for executing the action plan.