Adaptable Recovery Behaviors in Robotics: A Behavior Trees and Motion Generators(BTMG) Approach for Failure Management

arXiv:2404.06129v1 Announce Type: cross
Abstract: In dynamic operational environments, particularly in collaborative robotics, the inevitability of failures necessitates robust and adaptable recovery strategies. Traditional automated recovery strategies, while effective for predefined scenarios, often lack the flexibility required for on-the-fly task management and adaptation to expected failures. Addressing this gap, we propose a novel approach that models recovery behaviors as adaptable robotic skills, leveraging the Behavior Trees and Motion Generators~(BTMG) framework for policy representation. This approach distinguishes itself by employing reinforcement …

abstract arxiv automated behavior collaborative cs.lg cs.ro dynamic environments failure flexibility fly generators management recovery robotics robust strategies trees type