Automatic generation of behavior trees for the execution of robotic manipulation tasks
Document typeConference report
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessOpen Access
Robots should be able to exercise reasoning in both symbolic and geometric levels in order to plan a manipulation task. The execution of such tasks needs to be robust enough to cope with real environments. In an attempt to address this pertinent industry need, the paper proposes the use of behavior trees for effective robotic manipulation in dynamic environments. This paper presents a method to automatically generate a behavior tree and showcases its ability to enable the robot to reason at different levels and adapt to an uncertain and changing environment. This allows for a complex task to be robustly executed, pioneering the advancement towards fully functional service robots.
© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
CitationVerma, P.; Diab, M.; Rosell, J. Automatic generation of behavior trees for the execution of robotic manipulation tasks. A: IEEE International Conference on Emerging Technologies and Factory Automation. "Proceedings 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Västerås, Sweden, online 07-10 September, 2021". Institute of Electrical and Electronics Engineers (IEEE), 2021, p. 1-4. ISBN 978-1-72812-989-1. DOI 10.1109/ETFA45728.2021.9613583.