Using behavior trees in Plansys2 – Francisco Martín Rico (BTs in robotics, seminar #1)

Описание: This is seminar #1 in the seminar series on behavior trees in robotics.

Planning is a powerful approach a robot can use to create behaviors to achieve its tasks. Planning languages, such as PDDL, do not solve the aspect of the execution of the plans, thus you need a planning frameworks to store the knowledge of the robot, create plans, and execute them. PlanSys2 is one such framework, inspired by the successful ROSPlan, but improving upon it and making it work with ROS2. PlanSys2 makes heavy use of Behavior Trees in two dimensions: 1) Encoding plans as Behavior Trees, ready to be executed, and 2) giving the option to encode the actions of a plan as Behavior Trees. In this talk, we will introduce the basic concepts of PlanSys2 and show how PlanSys2 makes use of Behavior Trees in both dimensions.