The advantages of using behavior trees in multi-robot systems
2016 (English)In: 47th International Symposium on Robotics, ISR 2016, VDE Verlag GmbH, 2016, 23-30 p.Conference paper (Refereed)
Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities when starting from a single robot system controlled by a Behavior Tree (BT). By extending the single robot BT to a multi-robot BT, we are able to combine the fault tolerant properties of the BT, in terms of built-in fallbacks, with the fault tolerance inherent in multi-robot approaches, in terms of a faulty robot being replaced by another one. Furthermore, we improve performance by identifying and taking advantage of the opportunities of parallel task execution, that are present in the single robot BT. Analyzing the proposed approach, we present results regarding how mission performance is affected by minor faults (a robot losing one capability) as well as major faults (a robot losing all its capabilities).
Place, publisher, year, edition, pages
VDE Verlag GmbH, 2016. 23-30 p.
IdentifiersURN: urn:nbn:se:kth:diva-195399ScopusID: 2-s2.0-84983801255ISBN: 978-380074231-8OAI: oai:DiVA.org:kth-195399DiVA: diva2:1044435
47th International Symposium on Robotics, ISR 2016, Munich, Germany, 21 June 2016 through 22 June 2016
QC 201611032016-11-032016-11-032016-11-17Bibliographically approved