TY - GEN
T1 - Optimized execution of PDDL plans using behavior trees
AU - Rico, Francisco Martín
AU - Morelli, Matteo
AU - Espinoza, Huascar
AU - Rodríguez-Lera, Francisco J.
AU - Olivera, Vicente Matellán
N1 - Publisher Copyright:
© 2021 International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.
PY - 2021
Y1 - 2021
N2 - Robots need task planning to sequence and execute actions toward achieving their goals. On the other hand, Behavior Trees provide a mathematical model for specifying plan execution in an intrinsically composable, reactive, and robust way. PDDL (Planning Domain Definition Language) has become the standard description language for most planners. In this paper, we present a novel algorithm to systematically create behavior trees from PDDL plans to execute them. This approach uses the execution graph of the plan to generate a behavior tree. The most remarkable contribution of this approach is the algorithm to build a Behavior Tree that optimizes its execution by paralyzing actions, applicable to any plan, taking into account the actions' causal relationships. We demonstrate the improvement in the execution of plans in mobile robots using the ROS2 Planning System framework.
AB - Robots need task planning to sequence and execute actions toward achieving their goals. On the other hand, Behavior Trees provide a mathematical model for specifying plan execution in an intrinsically composable, reactive, and robust way. PDDL (Planning Domain Definition Language) has become the standard description language for most planners. In this paper, we present a novel algorithm to systematically create behavior trees from PDDL plans to execute them. This approach uses the execution graph of the plan to generate a behavior tree. The most remarkable contribution of this approach is the algorithm to build a Behavior Tree that optimizes its execution by paralyzing actions, applicable to any plan, taking into account the actions' causal relationships. We demonstrate the improvement in the execution of plans in mobile robots using the ROS2 Planning System framework.
KW - AI Planning
KW - Behavior Trees
KW - Multirobot
UR - https://www.scopus.com/pages/publications/85111233019
M3 - Conference contribution
AN - SCOPUS:85111233019
T3 - Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
SP - 1584
EP - 1586
BT - 20th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2021
PB - International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
T2 - 20th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2021
Y2 - 3 May 2021 through 7 May 2021
ER -