Behavior-Tree-Based Person Search for Symbiotic Autonomous Mobile Robot Tasks

verfasst von

Marvin Stuede, Timo Lerche, Martin Alexander Petersen, Svenja Spindeldreier

Abstract

We consider the problem of people search by a mobile social robot in case of a situation that cannot be solved by the robot alone. Examples are physically opening a closed door or operating an elevator. Based on the Behavior Tree framework, we create a modular and easily extendable action sequence with the goal of finding a person to assist the robot. By decomposing the Behavior Tree as a Discrete Time Markov Chain, we obtain an estimate of the probability and rate of success of the options for action, especially where the robot should wait or search for people.In a real-world experiment, the presented method is compared with other common approaches in a total of 588 test runs over the course of one week, starting at two different locations in a university building. We show our method to be superior to other approaches in terms of success rate and duration until a finding person and returning to the start location.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

2414-2420

Anzahl der Seiten

7

Publikationsdatum

16.03.2021

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Software, Artificial intelligence, Elektrotechnik und Elektronik, Steuerungs- und Systemtechnik

Elektronische Version(en)

https://arxiv.org/abs/2103.09162 (Zugang: Offen)
https://doi.org/10.1109/ICRA48506.2021.9561608 (Zugang: Geschlossen)