Robotic task planning and execution for the Tiago robot in daily-life kitchen activities
The purpose of this project is to develop a framework that integrates a high-level planner, such as PlanSys2, with a low-level system oriented towards specific solutions using Behavior Trees. The main objective is to implement a complete system in which a manipulator is capable of adaptively operati...
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| Format: | master thesis |
| Publication Date: | 2025 |
| Country: | España |
| Institution: | Universitat Politècnica de Catalunya (UPC) |
| Repository: | UPCommons. Portal del coneixement obert de la UPC |
| Language: | English |
| OAI Identifier: | oai:upcommons.upc.edu:2117/444115 |
| Online Access: | https://hdl.handle.net/2117/444115 |
| Access Level: | Open access |
| Keyword: | Computer scheduling Robots Robots, Industrial--Programming Planificació de tasques (Informàtica) Robots industrials--Programació Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Summary: | The purpose of this project is to develop a framework that integrates a high-level planner, such as PlanSys2, with a low-level system oriented towards specific solutions using Behavior Trees. The main objective is to implement a complete system in which a manipulator is capable of adaptively operating within a defined environment with which it must interact. In this work, an in-depth study of task planning and symbolic programming is carried out, as well as the tools necessary for its implementation. Through the use of PlanSys2 and Behav- iorTree.CPP, a modular and decoupled system is proposed that plans at an abstract level, inde- pendent of the physical platform, and offers generalization, adaptability, and reuse capabilities in different scenarios. The developed software has been validated in a simulated environment, inspired by daily-life activities that can be found in manipulation environments, where its functionalities have been systematically evaluated. |
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