Behavior tree driven multi-mobile robots via data distribution service (DDS)

Seungwoo Jeong; Taekwon Ga; Inhwan Jeong; Jongeun Choi

doi:10.23919/ICCAS52745.2021.9649758

Behavior tree driven multi-mobile robots via data distribution service (DDS)

Seungwoo Jeong, Taekwon Ga, Inhwan Jeong, Jongeun Choi

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

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) [1], 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.

Original language	English
Title of host publication	2021 21st International Conference on Control, Automation and Systems, ICCAS 2021
Publisher	IEEE Computer Society
Pages	1633-1638
Number of pages	6
ISBN (Electronic)	9788993215212
DOIs	https://doi.org/10.23919/ICCAS52745.2021.9649758
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

Publication series

Name	International Conference on Control, Automation and Systems
Volume	2021-October
ISSN (Print)	1598-7833

Conference

Conference	21st International Conference on Control, Automation and Systems, ICCAS 2021
Country/Territory	Korea, Republic of
City	Jeju
Period	21/10/12 → 21/10/15

Bibliographical note

Funding 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.

Publisher Copyright:
© 2021 ICROS.

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Computer Science Applications
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.23919/ICCAS52745.2021.9649758

Cite this

Jeong, S., Ga, T., Jeong, I., & Choi, J. (2021). Behavior tree driven multi-mobile robots via data distribution service (DDS). In 2021 21st International Conference on Control, Automation and Systems, ICCAS 2021 (pp. 1633-1638). (International Conference on Control, Automation and Systems; Vol. 2021-October). IEEE Computer Society. https://doi.org/10.23919/ICCAS52745.2021.9649758

@inproceedings{d20b2f49b0704927bb514a299e3b7de8,

title = "Behavior tree driven multi-mobile robots via data distribution service (DDS)",

abstract = "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) [1], 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.",

author = "Seungwoo Jeong and Taekwon Ga and Inhwan Jeong and Jongeun Choi",

note = "Funding 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. Publisher Copyright: {\textcopyright} 2021 ICROS.; 21st International Conference on Control, Automation and Systems, ICCAS 2021 ; Conference date: 12-10-2021 Through 15-10-2021",

year = "2021",

doi = "10.23919/ICCAS52745.2021.9649758",

language = "English",

series = "International Conference on Control, Automation and Systems",

publisher = "IEEE Computer Society",

pages = "1633--1638",

booktitle = "2021 21st International Conference on Control, Automation and Systems, ICCAS 2021",

address = "United States",

}

Jeong, S, Ga, T, Jeong, I & Choi, J 2021, Behavior tree driven multi-mobile robots via data distribution service (DDS). in 2021 21st International Conference on Control, Automation and Systems, ICCAS 2021. International Conference on Control, Automation and Systems, vol. 2021-October, IEEE Computer Society, pp. 1633-1638, 21st International Conference on Control, Automation and Systems, ICCAS 2021, Jeju, Korea, Republic of, 21/10/12. https://doi.org/10.23919/ICCAS52745.2021.9649758

Behavior tree driven multi-mobile robots via data distribution service (DDS). / Jeong, Seungwoo; Ga, Taekwon; Jeong, Inhwan et al.

2021 21st International Conference on Control, Automation and Systems, ICCAS 2021. IEEE Computer Society, 2021. p. 1633-1638 (International Conference on Control, Automation and Systems; Vol. 2021-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Behavior tree driven multi-mobile robots via data distribution service (DDS)

AU - Jeong, Seungwoo

AU - Ga, Taekwon

AU - Jeong, Inhwan

AU - Choi, Jongeun

N1 - Funding 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. Publisher Copyright: © 2021 ICROS.

PY - 2021

Y1 - 2021

N2 - 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) [1], 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.

AB - 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) [1], 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.

UR - http://www.scopus.com/inward/record.url?scp=85124202996&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85124202996&partnerID=8YFLogxK

U2 - 10.23919/ICCAS52745.2021.9649758

DO - 10.23919/ICCAS52745.2021.9649758

M3 - Conference contribution

AN - SCOPUS:85124202996

T3 - International Conference on Control, Automation and Systems

SP - 1633

EP - 1638

BT - 2021 21st International Conference on Control, Automation and Systems, ICCAS 2021

PB - IEEE Computer Society

T2 - 21st International Conference on Control, Automation and Systems, ICCAS 2021

Y2 - 12 October 2021 through 15 October 2021

ER -

Behavior tree driven multi-mobile robots via data distribution service (DDS)

Abstract

Publication series

Conference

Bibliographical note

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this