Heterogeneous Full-body Control of a Mobile Manipulator with Behavior Trees

10/16/2022

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by   Marco Iannotta, et al.

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Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this work we extend our framework based on Behavior Trees for the control of a redundant mechanical system to the problem of commanding more complex systems that involve multiple low-level controllers. This allows the integrated systems to achieve non-trivial goals that require coordination among the sub-systems.