Session 1a: Space Robotics

Integration of an automated hierarchical task planner in ROS using behaviour trees

José Á. Segura-Muros, Juan Fernández-Olivares

Universidad de Granada (Spain)

Date: September 29, 12:15 - 12:45
Room: Sala de Relaciones Internacionales

In this paper, we present an architecture that embeds an automatic planner into the Robotic Operating System (ROS). The plans generated by the planner are automatically translated into behaviour trees. The behaviour trees generated are also used as the basis for an execution monitoring process that is able to either react when the plan fails, trying to repair it, or trigger a replanning process based on the planner. This makes our architecture able to adapt to unexpected changes in the world, modifying the robot's behaviour in a deliberative way while trying to achieve a given goal. We have tested our approach in a simulated scenario.