将规则引擎CLIPS融入ROS 2，提升机器人任务协调能力

Making Robots Play by the Rules: The ROS 2 CLIPS-Executive

• 用CLIPS规则引擎实现机器人任务调度与决策
• 支持基于PDDL的规划框架，拓展应用灵活性
• 适合需要可解释逻辑控制的机器人系统开发

CLIPS是一种基于规则的编程语言，适用于构建知识驱动的应用程序，特别适合协调自主机器人完成复杂任务。受早期为非主流机器人框架Fawkes开发的CLIPS-Executive启发，本文提出将CLIPS集成到ROS生态系统中。此外，通过描述基于PDDL的规划框架集成，展示了CLIPS的灵活性。该集成使机器人系统能够以可解释、可维护的方式处理多任务协调问题，增强其在动态环境中的适应性与可靠性。

原文摘要 · Abstract (English)

CLIPS is a rule-based programming language for building knowledge-driven applications, well suited for the complex task of coordinating autonomous robots. Inspired by the CLIPS-Executive originally developed for the lesser known Fawkes robotics framework, we present an Integration of CLIPS into the ROS ecosystem. Additionally, we show the flexibility of CLIPS by describing a PDDL-based planning framework integration.

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