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The Robotic Goal Oriented Action Planning is a robotic adaption of the task planning system GOAP, which was developed by Orkin. RGOAP has been developed in the thesis "Goal Oriented Task Planning for Autonomous Service Robots".

RGOAP is meant to be an extension to SMACH, the task-level state machine. Simply said, RGOAP generates state machines on runtime.


The RGOAP library is split up to reduce inconvenient dependencies:

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2024-07-13 13:15