To Örebro University

oru.seÖrebro University Publications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Heterogeneous Full-body Control of a Mobile Manipulator with Behavior Trees
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-2142-6516
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0003-2279-9418
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0003-3958-6179
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0003-4026-7490
Show others and affiliations
2022 (English)In: IROS 2022 Workshop on Mobile Manipulation and Embodied Intelligence (MOMA): Challenges and  Opportunities, 2022Conference paper, Published paper (Refereed)
Abstract [en]

Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this work we extend our framework based on Behavior Trees for the control of a redundant mechanical system to the problem of commanding more complex systems that involve multiple low-level controllers. This allows the integrated systems to achieve non-trivial goals that require coordination among the sub-systems.

Place, publisher, year, edition, pages
2022.
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-102984DOI: 10.48550/arXiv.2210.08600OAI: oai:DiVA.org:oru-102984DiVA, id: diva2:1724688
Conference
International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, October 23-27, 2022
Funder
Knowledge FoundationAvailable from: 2023-01-09 Created: 2023-01-09 Last updated: 2023-01-09Bibliographically approved

Open Access in DiVA

Heterogeneous Full-body Control of a Mobile Manipulator with Behavior Trees(937 kB)60 downloads
File information
File name FULLTEXT01.pdfFile size 937 kBChecksum SHA-512
93f6c0bc3b9a597b922d28c5103272d2c4f01fca81224c068850e3eb0ca6bc85f6cd3e71f7dc70632ab5c420bad32f425d89cdff2f9dbca8a0649224cb9ecb68
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Authority records

Iannotta, MarcoDominguez, David CaceresStork, Johannes AndreasSchaffernicht, ErikStoyanov, Todor

Search in DiVA

By author/editor
Iannotta, MarcoDominguez, David CaceresStork, Johannes AndreasSchaffernicht, ErikStoyanov, Todor
By organisation
School of Science and Technology
Robotics

Search outside of DiVA

GoogleGoogle Scholar
Total: 60 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 289 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf