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

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.