Behavior-Tree-Based Person Search for Symbiotic Autonomous Mobile Robot Tasks

@article{Stuede2021BehaviorTreeBasedPS,
  title={Behavior-Tree-Based Person Search for Symbiotic Autonomous Mobile Robot Tasks},
  author={Marvin Stuede and Timo Lerche and Martin Alexander Petersen and Svenja Spindeldreier},
  journal={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2021},
  pages={2414-2420}
}
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… 

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