We propose multi-task programming for multi-robots via a behavior tree (BT) as a mean to reduce programming complexity of multi-mobile robots. For multi-mobile concurrent control, robot sensors or actuators data are shared via data distribution service (DDS). In addition to the advantages of DDS, the BT is deployed to control and monitor multi-mobile robots, The BTs are inherently modularized and reactive to the environments, which enables a flexible utilization of multi-mobile robots. With the help of Robot Operating System (ROS2) , The BTs are implemented with ROS2 nodes on the DDS that can be executed in both servers and clients for the task allocation. A simple experiment with 50kg, 100kg payload mobile robots built by Hyundai Robotics shows reliable performance with distributed BTs via DDS between servers and robots.
|Title of host publication||2021 21st International Conference on Control, Automation and Systems, ICCAS 2021|
|Publisher||IEEE Computer Society|
|Number of pages||6|
|Publication status||Published - 2021|
|Event||21st International Conference on Control, Automation and Systems, ICCAS 2021 - Jeju, Korea, Republic of|
Duration: 2021 Oct 12 → 2021 Oct 15
|Name||International Conference on Control, Automation and Systems|
|Conference||21st International Conference on Control, Automation and Systems, ICCAS 2021|
|Country/Territory||Korea, Republic of|
|Period||21/10/12 → 21/10/15|
Bibliographical noteFunding Information:
This paper has been supported by Hyundai Robotics. All robots for testing, demonstration, as well as environmental settings, are provided in the Hyundai Robotics engineering office.
© 2021 ICROS.
All Science Journal Classification (ASJC) codes
- Artificial Intelligence
- Computer Science Applications
- Control and Systems Engineering
- Electrical and Electronic Engineering