2022/10/16 by Iannotta, Marco, David Cáceres Domínguez, Domínguez, David Cáceres +6 · 1 citation
Computer Science · #FOS: Computer and information sciences #Formal Methods in Verification #Modeling and Simulation Systems #Reinforcement Learning in Robotics #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2210.08600
openalex publication_date 2022/10/16 · openalex created_date 2022/10/20 · openalex updated_date 2026/07/28
Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this work we extend our framework based on Behavior Trees for the control of a redundant mechanical system to the problem of commanding more complex systems that involve multiple low-level controllers. This allows the integrated systems to achieve non-trivial goals that require coordination among the sub-systems.