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30-07-2020 | Originalarbeit | Issue 6/2020 Open Access

e & i Elektrotechnik und Informationstechnik 6/2020

Combining decision making and dynamical systems for monitoring and executing manipulation tasks

Journal:
e & i Elektrotechnik und Informationstechnik > Issue 6/2020
Authors:
Matteo Saveriano, Justus Piater
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Abstract

In this paper, we propose a unified framework for online task scheduling, monitoring, and execution that integrates reconfigurable behavior trees, a decision-making framework with integrated low-level control functionalities, and reactive motion generation with stable dynamical systems. In this way, we realize a flexible and reactive system capable of coping with unexpected variations in the executive context without penalizing modularity, expressiveness, and readability of humans. The framework is evaluated in a simulated sorting task showing promising results in terms of flexibility regarding task scheduling and robustness to external disturbances.

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