Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Towards a Unified Behavior Trees Framework for Robot Control
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0001-9362-0644
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-0289-7424
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. (CAS)ORCID iD: 0000-0003-2078-8854
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-7714-928X
2014 (English)In: Robotics and Automation (ICRA), 2014 IEEE International Conference on , IEEE Robotics and Automation Society, 2014, 5420-5427 p.Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
IEEE Robotics and Automation Society, 2014. 5420-5427 p.
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-165676DOI: 10.1109/ICRA.2014.6907656OAI: oai:DiVA.org:kth-165676DiVA: diva2:808739
Conference
IEEE International Conference on Robots and Automation,Hong Kong,May 31 2014-June 7 2014
Note

QC 20150507

Available from: 2015-04-29 Created: 2015-04-29 Last updated: 2017-03-22Bibliographically approved
In thesis
1. Flexible Robot to Object Interactions Through Rigid and Deformable Cages
Open this publication in new window or tab >>Flexible Robot to Object Interactions Through Rigid and Deformable Cages
2017 (English)Doctoral thesis, comprehensive summary (Other academic)
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.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2017. 145 p.
Series
TRITA-CSC-A, ISSN 1653-5723 ; 2017:08
Keyword
planning, control, perception, caging, cage, grasping, multi-agent, robot, robotic, knot, knotting, behaviour trees, behavior trees, action scheduling, RRT
National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:kth:diva-203994 (URN)978-91-7729-316-3 (ISBN)978-91-7729-316-3 (ISBN)
Public defence
2017-04-10, F3, Lindstedtsvägen 26, KTH Campus., Stockholm, 14:00 (English)
Opponent
Supervisors
Funder
EU, FP7, Seventh Framework Programme, 600825
Note

QC 20170322

Available from: 2017-03-22 Created: 2017-03-21 Last updated: 2017-03-22Bibliographically approved

Open Access in DiVA

fulltext(1251 kB)384 downloads
File information
File name FULLTEXT01.pdfFile size 1251 kBChecksum SHA-512
5f6e83de988f91326c5fc7151e6efb02d346e3312c35424171ded3418bd2eb74c616e69afe375cdb0ab5859f74ccaabe2ea85a290f4f5fea6c0356219a6afc3b
Type fulltextMimetype application/pdf

Other links

Publisher's full textIEEEXplore

Search in DiVA

By author/editor
Marzinotto, AlejandroColledanchise, MicheleSmith, ChristianÖgren, Petter
By organisation
Computer Vision and Active Perception, CVAPCentre for Autonomous Systems, CAS
Computer Vision and Robotics (Autonomous Systems)

Search outside of DiVA

GoogleGoogle Scholar
Total: 384 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 1492 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf