TY - GEN
T1 - Behavior-Tree-Based Person Search for Symbiotic Autonomous Mobile Robot Tasks
AU - Stuede, Marvin
AU - Lerche, Timo
AU - Petersen, Martin Alexander
AU - Spindeldreier, Svenja
N1 - Accepted for publication at ICRA 2021
PY - 2021/3/16
Y1 - 2021/3/16
N2 - 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.
AB - 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.
KW - cs.RO
UR - http://www.scopus.com/inward/record.url?scp=85125457856&partnerID=8YFLogxK
U2 - 10.1109/ICRA48506.2021.9561608
DO - 10.1109/ICRA48506.2021.9561608
M3 - Conference contribution
SN - 978-1-7281-9078-5
T3 - Proceedings. Robotics and automation
SP - 2414
EP - 2420
BT - Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA)
PB - IEEE
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Y2 - 30 May 2021 through 5 June 2021
ER -