Programming Robot Behaviors with Execution Management Functions

by   Martín Molina, et al.

The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their concurrent execution. This paper presents a programming method for such components that has been designed to facilitate their coordinated execution. Each component is programmed as a module that controls a separate robot behavior together with a set of functions for execution management. The details of this proposal are formulated in the form of a ROS-based software library called behaviorlib. This solution has been used to program general behavior controllers that have been successfully reused to build multiple applications in aerial robotics.



page 1

page 7


Behavior coordination for self-adaptive robots using constraint-based configuration

Autonomous robots may be able to adapt their behavior in response to cha...

Analysis and Exploitation of Synchronized Parallel Executions in Behavior Trees

Behavior Trees (BTs) are becoming a popular tool to model the behaviors ...

Autonomous Execution of Cinematographic Shots with Multiple Drones

This paper presents a system for the execution of autonomous cinematogra...

Establishing Reliable Robot Behavior using Capability Analysis Tables

Robots are often so complex that one person may not know all the ins and...

Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies

Our research aims to enable automated property verification of deliberat...

Software-Defined Robotics -- Idea & Approach

The methodology of Software-Defined Robotics hierarchical-based and stan...

A Robot to Shape your Natural Plant: The Machine Learning Approach to Model and Control Bio-Hybrid Systems

Bio-hybrid systems---close couplings of natural organisms with technolog...

Code Repositories


Software library for programming robot behaviors

view repo
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.