Behavior-Tree-Based Person Search for Symbiotic Autonomous Mobile Robot Tasks
Marvin Stuede Timo Lerche Martin Alexander Petersen Svenja Spindeldreier Marvin Stuede Timo Lerche Martin Alexander Petersen Svenja Spindeldreier
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...