In these days most robotic systems tend to be complex to maintain and reuse because existing frameworks are based mainly on code-driven approaches. This means the software development process is reduced to the implementation of systems using specific programming languages.…

This paper proposes an original generic hierarchical framework in order to facilitate the modeling stage of complex autonomous robotics mission planning problems with action uncertainties. Such stochastic planning problems can be modeled as Markov Decision Processes [5]. This work is…