MERLIN2: MachinEd Ros 2 pLanINg

Any service robot should be able to make decisions and schedule tasks to reach predefined goals such as opening a door or assisting users at home. However, these processes are not single short-term tasks anymore and it is required to set long-term skills for establishing a control architecture that allows robots to perform daily tasks. This paper presents MERLIN2, a hybrid cognitive architecture based on symbolic planning and state machine decision-making systems that allows performing robot behaviors. The architecture can run in any robot running ROS 2, the latest version of the Robot Operative System. MERLIN2 is available at https://github.com/MERLIN2-ARCH/merlin2. •Service robots should have the ability to make decisions and schedule tasks.•Introduced a bioinspired hybrid cognitive architecture based on PDDL symbolic planning and state machines.•The proposed architecture is divided into two systems: deliberative and behavioral.•Each system of the architecture is composed of two layers.