Related papers: Assistive Robot Teleoperation Using Behavior Trees

Domestic and service robots have the potential to transform industries such as health care and small-scale manufacturing, as well as the homes in which we live. However, due to the overwhelming variety of tasks these robots will be expected…

As complex autonomous robotic systems become more widespread, the need for transparent and reusable Artificial Intelligence (AI) designs becomes more apparent. In this paper we analyse how the principles behind Behavior Trees (BTs), an…

Heterogeneous Robot Teams can provide a wide range of capabilities and therefore significant benefits when handling a mission. However, they also require new approaches to capability and mission definition that are not only suitable to…

There is a growing interest in Behavior Trees (BTs) as a tool to describe and implement robot behaviors. BTs were devised in the video game industry and their adoption in robotics resulted in the development of ad-hoc libraries to design…

Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…

Fast changing tasks in unpredictable, collaborative environments are typical for medium-small companies, where robotised applications are increasing. Thus, robot programs should be generated in short time with small effort, and the robot…

Behavior Trees (BTs) have found a widespread adoption in robotics due to appealing features, their ease of use as a conceptual model of control policies and the availability of software tooling for BT-based design of control software.…

Robot missions typically involve a number of desired objectives, such as avoiding collisions, staying connected to other robots, gathering information using sensors and returning to the charging station before the battery runs out. Some of…

Behavior Trees (BTs) were invented as a tool to enable modular AI in computer games, but have received an increasing amount of attention in the robotics community in the last decade. With rising demands on agent AI complexity, game…

In this paper we present an architecture for the operation of an assistive robot finally aimed at allowing users with severe motion disabilities to perform manipulation tasks that may help in daily-life operations. The robotic system, based…

Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling a robot to perform a complex or demanding task may overload operators resulting in poor performance. To design a robot…

Behavior trees (BTs) emerged from video game development as a graphical language for modeling intelligent agent behavior. BTs have several properties which are attractive for modeling medical procedures including human-readability,…

In this paper, we show how a planning algorithm can be used to automatically create and update a Behavior Tree (BT), controlling a robot in a dynamic environment. The planning part of the algorithm is based on the idea of back chaining.…

Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…

[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This…

Assistive robot arms enable people with disabilities to conduct everyday tasks on their own. These arms are dexterous and high-dimensional; however, the interfaces people must use to control their robots are low-dimensional. Consider…

Behavior Trees (BTs) are high level controllers that have found use in a wide range of robotics tasks. As they grow in popularity and usage, it is crucial to ensure that the appropriate tools and methods are available for ensuring they work…

As autonomous service robots become more affordable and thus available also for the general public, there is a growing need for user friendly interfaces to control the robotic system. Currently available control modalities typically expect…

Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities when starting from a single robot system controlled by a…

While teleoperated robots continue to proliferate in domains including search and rescue, field exploration, or the military, human error remains a primary cause for accidents or mistakes. One challenge is that teleoperating a remote robot…