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Latest entries for tag 'behavior-engine'

5th BRICS Research Camp

Last week, the BRICS project invited young researchers and robotics experts from around the globe for the 5th BRICS Research Camp in Granada, Spain. The overall goal was to integrate and to analyze a mobile manipulation task on the Care-O-bot and YouBot platforms, as well as integrating and evaluating components and ideas developed in the BRICS project.

Group 6 was tasked with porting the YouBot architecture onto the Care-O-bot -- and back. It was decided that rather than porting the software components bit by bit, rather it would be interesting to port capabilities and behavior to accomplish the same robot task. For this a semantic task abstraction level which allows to provide skills as a unified communication from the high level task coordination with the lower level subsystems. This mid-level level system is much in the tradition as Fawkes' Lua-based Behavior Engine. But here, it was implemented as an intermediate Python layer called ActionCmdr. In particular, it supports splitting of the behavior code into multiple packages allowing for general skills were possible, and specialized where necessary. This allowed to run the exact same high-level program on both robots. Two groups cooperated in bringing back the code onto the YouBot, after it has been ported to the Care-O-bot, showing the generality and portability of the new architecture. The picture to the right shows Group 6 and Group 1 with the Care-O-bot and two YouBots (from left to right, back row: Lucian Goron, Peter Schüller, Florian Weißhardt, Andreas Schierl, Tim Niemueller, Oliver Zendel, Felix Meßmer, front row: Leif Jentoft, Chandan Datta, and Daniel Ortiz Morales).

There is more on the Care-O-bot news page and in the program on the Research Camp wiki

Care-O-bot Demo

YouBot Demo

Thanks to Group 1 we were able to port the code back to the YouBot and run the demo.

Posted by Tim Niemueller on November 6, 2012 18:03

Video of talk about the Behavior Engine

Recently, I held a talk at Willow Garage about my recent efforts of porting the Fawkes behavior engine to ROS. It gives a brief introduction to Fawkes and explains the basic concepts and what one has to keep in mind when porting the behavior engine, and why Fawkes' architecture is beneficial for knowledge-based systems. It continues with an introduction of the behavior engine stack and the effort to port it to ROS using roslua, also written by the speaker.

This work was conducted as part of my research stay and internship at the Robotics Institute of the Carnegie Mellon University in the Personal Robotics Lab at Intel Labs Pittsburgh with Prof. Siddharta Srinivasa.

Posted by Tim Niemueller on November 12, 2010 15:53