Behavior Tree-Based Task Planning for Multiple Mobile Robots using a Data Distribution Service

Seungwoo Jeong, Taekwon Ga, Inhwan Jeong, Jongeun Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived from one root node with a single tick is unsuitable for multiple robots, a novel type of BT action and improved nodes are proposed to control multiple robots through a DDS asynchronously. To plan tasks for robots efficiently, a single task planning unit is implemented with the proposed task types. The task planning unit assigns tasks to each robot simultaneously through a single coalesced BT. If any robot falls into a fault while performing its assigned task, another BT embedded in the robot is executed; the robot enters the recovery mode in order to overcome the fault. To perform this function, the action in the BT corresponding to the task is defined as a variable, which is shared with the DDS so that any action can be exchanged between the task planning unit and robots. To show the feasibility of our framework in a real-world application, three mobile robots were experimentally coordinated for them to travel alternately to four goal positions by the proposed single task planning unit via a DDS.

Original languageEnglish
Title of host publication2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1791-1798
Number of pages8
ISBN (Electronic)9781665413084
DOIs
Publication statusPublished - 2022
Event2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022 - Sapporo, Japan
Duration: 2022 Jul 112022 Jul 15

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2022-July

Conference

Conference2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022
Country/TerritoryJapan
CitySapporo
Period22/7/1122/7/15

Bibliographical note

Publisher Copyright:
© 2022 IEEE.

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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