PLATINUm: A New Framework for Planning and Acting

This paper presents a novel planning framework, called PLATINUm that advances the state of the art with the ability of dealing with temporal uncertainty both at planning and plan execution level. PLATINUm is a comprehensive planning system endowed with (i) a new algorithm for temporal planning with uncertainty, (ii) heuristic search capabilities grounded on hierarchical modelling and (iii) a robust plan execution module to address temporal uncertainty while executing plans. The paper surveys the capabilities of this new planning system that has been recently deployed in a manufacturing scenario to support Human-Robot Collaboration.