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Towards a Unified Behavior Trees Framework for Robot Control
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0001-9362-0644
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0003-0289-7424
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP. KTH, Skolan för datavetenskap och kommunikation (CSC), Centra, Centrum för Autonoma System, CAS. (CAS)ORCID-id: 0000-0003-2078-8854
KTH, Skolan för datavetenskap och kommunikation (CSC), Datorseende och robotik, CVAP.ORCID-id: 0000-0002-7714-928X
2014 (Engelska)Ingår i: Robotics and Automation (ICRA), 2014 IEEE International Conference on , IEEE Robotics and Automation Society, 2014, s. 5420-5427Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This paper presents a unified framework for Behavior Trees (BTs), a plan representation and execution tool. The available literature lacks the consistency and mathematical rigor required for robotic and control applications. Therefore, we approach this problem in two steps: first, reviewing the most popular BT literature exposing the aforementioned issues; second, describing our unified BT framework along with equivalence notions between BTs and Controlled Hybrid Dynamical Systems (CHDSs). This paper improves on the existing state of the art as it describes BTs in a more accurate and compact way, while providing insight about their actual representation capabilities. Lastly, we demonstrate the applicability of our framework to real systems scheduling open-loop actions in a grasping mission that involves a NAO robot and our BT library.

Ort, förlag, år, upplaga, sidor
IEEE Robotics and Automation Society, 2014. s. 5420-5427
Nationell ämneskategori
Datorseende och robotik (autonoma system)
Identifikatorer
URN: urn:nbn:se:kth:diva-165676DOI: 10.1109/ICRA.2014.6907656OAI: oai:DiVA.org:kth-165676DiVA, id: diva2:808739
Konferens
IEEE International Conference on Robots and Automation,Hong Kong,May 31 2014-June 7 2014
Anmärkning

QC 20150507

Tillgänglig från: 2015-04-29 Skapad: 2015-04-29 Senast uppdaterad: 2018-01-11Bibliografiskt granskad
Ingår i avhandling
1. Flexible Robot to Object Interactions Through Rigid and Deformable Cages
Öppna denna publikation i ny flik eller fönster >>Flexible Robot to Object Interactions Through Rigid and Deformable Cages
2017 (Engelska)Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

In this thesis we study the problem of robotic interaction with objects from a flexible perspective that complements the rigid force-closure approach. In a flexible interaction the object is not firmly bound to the robot (immobilized), which leads to many interesting scenarios. We focus on the secure kind of flexible interactions, commonly referred to as caging grasps. In this context, the adjective secure implies that the object is not able to escape arbitrarily far away from the robot which is caging it. A cage is a secure flexible interaction because it does not immobilize the object, but restricts its motion to a finite set of possible configurations. We study cages in two novel scenarios for objects with holes: caging through multi-agent cooperation and through dual-arm knotting with a rope. From these two case studies, we were able to analyze the caging problem in a broader perspective leading to the definition of a hierarchical classification of flexible interactions and cages.

In parallel to the geometric and physical problem of flexible interactions with objects, we study also the problem of discrete action scheduling through a novel control architecture called Behavior Trees (BTs). In this thesis we propose a formulation that unifies the competing BT philosophies into a single framework. We analyze how the mainstream BT formulations differ from each other, as well as their benefits and limitations. We also compare the plan representation capabilities of BTs with respect to the traditional approach of Controlled Hybrid Dynamical Systems (CHDSs). In this regard, we present bidirectional translation algorithms between such representations as well as the necessary and sufficient conditions for translation convergence. Lastly, we demonstrate our action scheduling BT architecture showcasing the aforementioned caging scenarios, as well as other examples that show how BTs can be interfaced with other high level planners.

Ort, förlag, år, upplaga, sidor
Stockholm: KTH Royal Institute of Technology, 2017. s. 145
Serie
TRITA-CSC-A, ISSN 1653-5723 ; 2017:08
Nyckelord
planning, control, perception, caging, cage, grasping, multi-agent, robot, robotic, knot, knotting, behaviour trees, behavior trees, action scheduling, RRT
Nationell ämneskategori
Robotteknik och automation
Forskningsämne
Datalogi
Identifikatorer
urn:nbn:se:kth:diva-203994 (URN)978-91-7729-316-3 (ISBN)978-91-7729-316-3 (ISBN)
Disputation
2017-04-10, F3, Lindstedtsvägen 26, KTH Campus., Stockholm, 14:00 (Engelska)
Opponent
Handledare
Forskningsfinansiär
EU, FP7, Sjunde ramprogrammet, 600825
Anmärkning

QC 20170322

Tillgänglig från: 2017-03-22 Skapad: 2017-03-21 Senast uppdaterad: 2017-03-22Bibliografiskt granskad

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Marzinotto, AlejandroColledanchise, MicheleSmith, ChristianÖgren, Petter
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Datorseende och robotik (autonoma system)

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