Knowledge-based execution configuration of behavior trees

3rd edition of the Workshop on Ontologies and Standards for Robotics and Automation

Detalhes bibliográficos
Autores: Ruiz Celada, Oriol, Rosell Gratacòs, Jan|||0000-0003-4854-2370, Suárez Feijóo, Raúl|||0000-0002-3853-7095
Formato: informe técnico
Fecha de publicación:2024
País:España
Recursos:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/412121
Acesso em linha:https://hdl.handle.net/2117/412121
Access Level:acceso abierto
Palavra-chave:Decision trees
Robots -- Control systems
Execution configuration
Ontologies
Behavior Trees
Arbres de decisió
Robots -- Sistemes de control
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling Knowledge-based execution configuration of behavior treesRuiz Celada, OriolRosell Gratacòs, Jan|||0000-0003-4854-2370Suárez Feijóo, Raúl|||0000-0002-3853-7095Decision treesRobots -- Control systemsExecution configurationOntologiesBehavior TreesArbres de decisióRobots -- Sistemes de controlÀrees temàtiques de la UPC::Informàtica::Robòtica3rd edition of the Workshop on Ontologies and Standards for Robotics and AutomationAutomated planning is commonly used to obtain plans to solve particular tasks. To execute the plans, Behavior Trees (BTs) have emerged as a popular execution architecture due to their reactivity and modularity. Configuring the execution of a plan into a BT requires expanding high level actions into the proper BT structure. For this, the use of pre-defined rigid templates is common. In this work, in order to overcome the limitation of these methods, we present a new approach to describe robotic behaviors using ontologies and to adapt BTs to current specifications of the task and the world by reasoning on what modifiers to their base template need to be applied. These modifiers and their properties are formally defined using ontologies. We present a proof of concept of these modifiers applied to a base BT of a Pick operation.Peer Reviewed20242024-05-1320242024-07-19reporthttp://purl.org/coar/resource_type/c_93fcAOhttp://purl.org/coar/version/c_b1a7d7d4d402bcceinfo:eu-repo/semantics/reportapplication/pdfhttps://hdl.handle.net/2117/412121reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)InglésengEuropean Commission http://doi.org/10.13039/501100000780 HE 101070136 AI-Powered Manipulation System for Advanced Robotic Service, Manufacturing and Prostheticsopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/4121212026-05-27T15:37:01Z
dc.title.none.fl_str_mv Knowledge-based execution configuration of behavior trees
title Knowledge-based execution configuration of behavior trees
spellingShingle Knowledge-based execution configuration of behavior trees
Ruiz Celada, Oriol
Decision trees
Robots -- Control systems
Execution configuration
Ontologies
Behavior Trees
Arbres de decisió
Robots -- Sistemes de control
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Knowledge-based execution configuration of behavior trees
title_full Knowledge-based execution configuration of behavior trees
title_fullStr Knowledge-based execution configuration of behavior trees
title_full_unstemmed Knowledge-based execution configuration of behavior trees
title_sort Knowledge-based execution configuration of behavior trees
dc.creator.none.fl_str_mv Ruiz Celada, Oriol
Rosell Gratacòs, Jan|||0000-0003-4854-2370
Suárez Feijóo, Raúl|||0000-0002-3853-7095
author Ruiz Celada, Oriol
author_facet Ruiz Celada, Oriol
Rosell Gratacòs, Jan|||0000-0003-4854-2370
Suárez Feijóo, Raúl|||0000-0002-3853-7095
author_role author
author2 Rosell Gratacòs, Jan|||0000-0003-4854-2370
Suárez Feijóo, Raúl|||0000-0002-3853-7095
author2_role author
author
dc.subject.none.fl_str_mv Decision trees
Robots -- Control systems
Execution configuration
Ontologies
Behavior Trees
Arbres de decisió
Robots -- Sistemes de control
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Decision trees
Robots -- Control systems
Execution configuration
Ontologies
Behavior Trees
Arbres de decisió
Robots -- Sistemes de control
Àrees temàtiques de la UPC::Informàtica::Robòtica
description 3rd edition of the Workshop on Ontologies and Standards for Robotics and Automation
publishDate 2024
dc.date.none.fl_str_mv 2024
2024-05-13
2024
2024-07-19
dc.type.none.fl_str_mv report
http://purl.org/coar/resource_type/c_93fc
AO
http://purl.org/coar/version/c_b1a7d7d4d402bcce
dc.type.openaire.fl_str_mv info:eu-repo/semantics/report
format report
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/412121
url https://hdl.handle.net/2117/412121
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv European Commission http://doi.org/10.13039/501100000780 HE 101070136 AI-Powered Manipulation System for Advanced Robotic Service, Manufacturing and Prosthetics
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,811543

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