This paper proposes a modular ROS 2 architecture to address this gap, where a locally deployed LLM (Gemma 3 4B) would drive FSM transitions at execution time. A hospital isolation room scenario on a TIAGo Pro robot serves as a motivating use case, where the system would autonomously navigate between two isolation rooms, conducting structured ward rounds following the Basel Standard clinical protocol and automatically generating Subjective, Objective, Assessment, Plan (SOAP) reports for each patient
Towards LLM-Driven State Machines for RuntimeRobot Behavior in ROS 2
F. Calefato;F. Lanubile
2026-01-01
Abstract
This paper proposes a modular ROS 2 architecture to address this gap, where a locally deployed LLM (Gemma 3 4B) would drive FSM transitions at execution time. A hospital isolation room scenario on a TIAGo Pro robot serves as a motivating use case, where the system would autonomously navigate between two isolation rooms, conducting structured ward rounds following the Basel Standard clinical protocol and automatically generating Subjective, Objective, Assessment, Plan (SOAP) reports for each patientFile in questo prodotto:
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