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.
Combining decision making and dynamical systems for monitoring and executing manipulation tasks / Saveriano, M.; Piater, J.. - In: ELEKTROTECHNIK UND INFORMATIONSTECHNIK. - ISSN 0932-383X. - 137:6(2020), pp. 309-315. [10.1007/s00502-020-00816-7]
Combining decision making and dynamical systems for monitoring and executing manipulation tasks
Saveriano M.;
2020-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione