Agile Tasking of Robotic Systems with Explicit Autonomy

Task agility is an increasingly desirable feature for robots in application domains such as manufacturing. The Canonical Robot Command Language (CRCL) is a lightweight information model built for agile tasking of robotic systems. CRCL replaces the underlying complex proprietary robot programming interface with a standard interface. In this paper, we exchange the automated planning component that CRCL used in the past for a rational agent in the Gwendolen agent programming language, thus providing greater possibilities for formal verification and explicit autonomy. We evaluate our approach by performing agile tasking in a kitting case study.