A Toolchain to Design, Execute, and Monitor Robots Behaviors
This work addresses the need for systematic robot behavior management, likely for robotics researchers or engineers, but it appears incremental as it builds on existing frameworks like RobMoSys and Behavior Trees.
The paper tackles the problem of designing, executing, and verifying robot behaviors by presenting a toolchain that encodes robot deliberation as Behavior Trees with statechart leaf nodes, and it validated this toolchain in a simulated experiment made reproducible in an OS-virtualization environment.
In this paper, we present a toolchain to design, execute, and verify robot behaviors. The toolchain follows the guidelines defined by the EU H2020 project RobMoSys and encodes the robot deliberation as a Behavior Tree (BT), a directed tree where the internal nodes model behavior composition and leaf nodes model action or measurement operations. Such leaf nodes take the form of a statechart (SC), which runs in separate threads, whose states perform basic arithmetic operations and send commands to the robot. The toolchain provides the ability to define a runtime monitor for a given system specification that warns the user whenever a given specification is violated. We validated the toolchain in a simulated experiment that we made reproducible in an OS-virtualization environment.