Abstract
AbstractIn 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.
Funder
Horizon 2020 Framework Programme
FWF
Publisher
Springer Science and Business Media LLC
Subject
Electrical and Electronic Engineering
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