Heterogeneous Full-body Control of a Mobile Manipulator with Behavior Trees
Robotics
2022-10-18 v1
Abstract
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.
Keywords
Cite
@article{arxiv.2210.08600,
title = {Heterogeneous Full-body Control of a Mobile Manipulator with Behavior Trees},
author = {Marco Iannotta and David Cáceres Domínguez and Johannes A. Stork and Erik Schaffernicht and Todor Stoyanov},
journal= {arXiv preprint arXiv:2210.08600},
year = {2022}
}
Comments
arXiv admin note: substantial text overlap with arXiv:2209.08619