The wide catalogue of planners enables mission-planning solutions to be tailored to assumptions made on the environment and user needs. However, in robotics, the execution of plans and policies created by these planners is not always straightforward, because autonomous robots deployed in open and dynamic environments undergo fluctuating environmental conditions, partial information, and uncertain execution times. On top of bare engineering issues, planner integration and usability requires reliable and verifiable execution frameworks. We propose AMPLIFIED, a complete toolchain to plan and execute in complex environments, with the goal to assess the quality of the integrated solution. AMPLIFIED is modular, thereby allowing the integration of community-made elements, from the decisional layer to low-level controllers. Building upon an antipoaching scenario, we illustrate how AMPLIFIED can be used to qualitatively evaluate different planners and the executability of their solutions. A video showcases such evaluation in simulated and real-life environments: https://youtu.be/znwcHL5m1a4.     «

The wide catalogue of planners enables mission-planning solutions to be tailored to assumptions made on the environment and user needs. However, in robotics, the execution of plans and policies created by these planners is not always straightforward, because autonomous robots deployed in open and dynamic environments undergo fluctuating environmental conditions, partial information, and uncertain execution times. On top of bare engineering issues, planner integration and usability requires relia...     »