Combining decision making and dynamical systems for monitoring and executing manipulation tasks

Abstract

In this paper, we propose a unified framework for online task scheduling, monitoring, and execution that integrates reconfigurable behavior trees, a decision-making framework with integrated low-level control functionalities, and reactive motion generation with stable dynamical systems. In this way, we realize a flexible and reactive system capable of coping with unexpected variations in the executive context without penalizing modularity, expressiveness, and readability of humans. The framework is evaluated in a simulated sorting task showing promising results in terms of flexibility regarding task scheduling and robustness to external disturbances.

Reconfigurable Behavior Trees: Towards an Executive Framework Meeting High-level Decision Making and Control Layer Features

“…This paper focused on theoretical description of RBTs and comparisons with traditional BTs. In [37], we combined RBTs with a reactive motion generation approach to correct the robot trajectory on-the-fly without a computationally expensive motion re-planning step. The preliminary results shown in this paper and in [37] are promising and suggest that RBTs are better suited to dynamic and uncertain environments than BTs.…”

“…In [37], we combined RBTs with a reactive motion generation approach to correct the robot trajectory on-the-fly without a computationally expensive motion re-planning step. The preliminary results shown in this paper and in [37] are promising and suggest that RBTs are better suited to dynamic and uncertain environments than BTs. Therefore, we expect that RBTs can significantly contribute to the deployment of social robotics applications.…”

Research and Simulation of the Process of Automatic Motion of a Robotic System Using the Coppeliasim Environment

“…Унифицированную структуру для онлайнпланирования, мониторинга и выполнения задач рассматривают Saveriano M., Piater J. [3] в работе «Сочетание систем принятия решений и динамических систем для мониторинга и выполнения задач манипуляции». В работе представлена унифицированная структура, которая объединяет принятие решений на высоком уровне, непрерывный мониторинг выполнения и генерацию движения онлайн.…”