Hierarchical planning of modular behaviour networks for office delivery robot

Jong Won Yoon, Sung Bae Cho

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

1 Citation (Scopus)

Abstract

This paper proposes a hybrid architecture based on hierarchical planning of modular behaviour networks for generating autonomous behaviours of the office delivery robot. Behaviour networks suitable for goaloriented problems are exploited for the architecture, where a monolithic behaviour network is decomposed into several smaller behaviour modules. In order to construct and adjust sequences of the modules the planning method considers the sub-goals, the priority in each task and the user feedback. It helps a robot to quickly react in dynamic situations as well as achieve global goals efficiently. The proposed architecture is verified on both the Webot simulator and Khepera II robot in office environment with delivery tasks. Experimental results confirms that a robot can achieve goals and generate module sequences successfully even in unpredictable situations, and the proposed planning method reduces the elapsed time during tasks by 17.5%.

Original languageEnglish
Title of host publicationICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics
Pages14-20
Number of pages7
Volume2
Publication statusPublished - 2012 Oct 26
Event9th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2012 - Rome, Italy
Duration: 2012 Jul 282012 Jul 31

Other

Other9th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2012
CountryItaly
CityRome
Period12/7/2812/7/31

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Robots
Planning
Simulators
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All Science Journal Classification (ASJC) codes

  • Information Systems
  • Control and Systems Engineering

Cite this

Yoon, J. W., & Cho, S. B. (2012). Hierarchical planning of modular behaviour networks for office delivery robot. In ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics (Vol. 2, pp. 14-20)
Yoon, Jong Won ; Cho, Sung Bae. / Hierarchical planning of modular behaviour networks for office delivery robot. ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics. Vol. 2 2012. pp. 14-20
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Yoon, JW & Cho, SB 2012, Hierarchical planning of modular behaviour networks for office delivery robot. in ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics. vol. 2, pp. 14-20, 9th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2012, Rome, Italy, 12/7/28.

Hierarchical planning of modular behaviour networks for office delivery robot. / Yoon, Jong Won; Cho, Sung Bae.

ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics. Vol. 2 2012. p. 14-20.

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

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AB - This paper proposes a hybrid architecture based on hierarchical planning of modular behaviour networks for generating autonomous behaviours of the office delivery robot. Behaviour networks suitable for goaloriented problems are exploited for the architecture, where a monolithic behaviour network is decomposed into several smaller behaviour modules. In order to construct and adjust sequences of the modules the planning method considers the sub-goals, the priority in each task and the user feedback. It helps a robot to quickly react in dynamic situations as well as achieve global goals efficiently. The proposed architecture is verified on both the Webot simulator and Khepera II robot in office environment with delivery tasks. Experimental results confirms that a robot can achieve goals and generate module sequences successfully even in unpredictable situations, and the proposed planning method reduces the elapsed time during tasks by 17.5%.

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Yoon JW, Cho SB. Hierarchical planning of modular behaviour networks for office delivery robot. In ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics. Vol. 2. 2012. p. 14-20