IEEE Robotics & Automation Magazine - September 2018 - 55
memory
memory
Ball
ll
ball_detection
following
look_at
Ball
walk_to
walk_to
look_at
Control
ball_detection
Ba
Middleware
(a)
Figure 3. The flows of information are monitored during runtime
to implement sensory-motor couplings, here for having the
robot tracking the ball.
memory
In turn, following corresponds to looking at the ball
while walking toward it (as long as the distance between the
ball and the robot is significant, as expressed by the evaluation
implementing the Python function far):
ball_detection
walk_to
head_search
(b)
following:
looking
walk_to, whenever far
memory
and looking at the ball corresponds to either centering
the detected ball in the center of vision ( look_at )
or performing a rapid head-search motion ( h e a d _
search ):
ball_detection
turning head_search
(c)
memory
sit
(d)
Figure 2. Some possible patterns of activation of the tree
presented in Figure 1 where the robot is (a) walking toward the
ball when it sees it; (b) walking toward the last known position
of the ball while searching for it with its head; (c) performing
a full body search; and (d) sitting in a safe position when its
battery runs low. Black is used to indicate activation of nodes
and blue activation of leaf nodes. For brevity, only activated leaf
nodes are labeled.
looking:
look_at, whenever time_ago <1,
priority of 2
head_search, priority of 1
It can be noted that the Python code corresponding to leaf
nodes and evaluations can be reused not only across programs but also several times in the same script. For example,
the head_search node is used in two branches: looking
and searching.
The full behavior is robust, as the robot either 1) walks
toward the ball when it sees it, 2) keeps walking toward the
last known position of the ball while searching for it with its
head, 3) stops walking and performs a full body search, or 4)
sits in a safe position if at any time its battery runs low. Related patterns of activation in the behavior tree are displayed in
Figure 2.
Reactivity
The keyword targeting relates sensory information
corresponding to the detected ball to the following
node. Figure 3 shows the resulting flows of information that are applied at runtime when the following
subtree is activated. Information encoded by the
september 2018
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
55
IEEE Robotics & Automation Magazine - September 2018
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2018
Contents
IEEE Robotics & Automation Magazine - September 2018 - Cover1
IEEE Robotics & Automation Magazine - September 2018 - Cover2
IEEE Robotics & Automation Magazine - September 2018 - Contents
IEEE Robotics & Automation Magazine - September 2018 - 2
IEEE Robotics & Automation Magazine - September 2018 - 3
IEEE Robotics & Automation Magazine - September 2018 - 4
IEEE Robotics & Automation Magazine - September 2018 - 5
IEEE Robotics & Automation Magazine - September 2018 - 6
IEEE Robotics & Automation Magazine - September 2018 - 7
IEEE Robotics & Automation Magazine - September 2018 - 8
IEEE Robotics & Automation Magazine - September 2018 - 9
IEEE Robotics & Automation Magazine - September 2018 - 10
IEEE Robotics & Automation Magazine - September 2018 - 11
IEEE Robotics & Automation Magazine - September 2018 - 12
IEEE Robotics & Automation Magazine - September 2018 - 13
IEEE Robotics & Automation Magazine - September 2018 - 14
IEEE Robotics & Automation Magazine - September 2018 - 15
IEEE Robotics & Automation Magazine - September 2018 - 16
IEEE Robotics & Automation Magazine - September 2018 - 17
IEEE Robotics & Automation Magazine - September 2018 - 18
IEEE Robotics & Automation Magazine - September 2018 - 19
IEEE Robotics & Automation Magazine - September 2018 - 20
IEEE Robotics & Automation Magazine - September 2018 - 21
IEEE Robotics & Automation Magazine - September 2018 - 22
IEEE Robotics & Automation Magazine - September 2018 - 23
IEEE Robotics & Automation Magazine - September 2018 - 24
IEEE Robotics & Automation Magazine - September 2018 - 25
IEEE Robotics & Automation Magazine - September 2018 - 26
IEEE Robotics & Automation Magazine - September 2018 - 27
IEEE Robotics & Automation Magazine - September 2018 - 28
IEEE Robotics & Automation Magazine - September 2018 - 29
IEEE Robotics & Automation Magazine - September 2018 - 30
IEEE Robotics & Automation Magazine - September 2018 - 31
IEEE Robotics & Automation Magazine - September 2018 - 32
IEEE Robotics & Automation Magazine - September 2018 - 33
IEEE Robotics & Automation Magazine - September 2018 - 34
IEEE Robotics & Automation Magazine - September 2018 - 35
IEEE Robotics & Automation Magazine - September 2018 - 36
IEEE Robotics & Automation Magazine - September 2018 - 37
IEEE Robotics & Automation Magazine - September 2018 - 38
IEEE Robotics & Automation Magazine - September 2018 - 39
IEEE Robotics & Automation Magazine - September 2018 - 40
IEEE Robotics & Automation Magazine - September 2018 - 41
IEEE Robotics & Automation Magazine - September 2018 - 42
IEEE Robotics & Automation Magazine - September 2018 - 43
IEEE Robotics & Automation Magazine - September 2018 - 44
IEEE Robotics & Automation Magazine - September 2018 - 45
IEEE Robotics & Automation Magazine - September 2018 - 46
IEEE Robotics & Automation Magazine - September 2018 - 47
IEEE Robotics & Automation Magazine - September 2018 - 48
IEEE Robotics & Automation Magazine - September 2018 - 49
IEEE Robotics & Automation Magazine - September 2018 - 50
IEEE Robotics & Automation Magazine - September 2018 - 51
IEEE Robotics & Automation Magazine - September 2018 - 52
IEEE Robotics & Automation Magazine - September 2018 - 53
IEEE Robotics & Automation Magazine - September 2018 - 54
IEEE Robotics & Automation Magazine - September 2018 - 55
IEEE Robotics & Automation Magazine - September 2018 - 56
IEEE Robotics & Automation Magazine - September 2018 - 57
IEEE Robotics & Automation Magazine - September 2018 - 58
IEEE Robotics & Automation Magazine - September 2018 - 59
IEEE Robotics & Automation Magazine - September 2018 - 60
IEEE Robotics & Automation Magazine - September 2018 - 61
IEEE Robotics & Automation Magazine - September 2018 - 62
IEEE Robotics & Automation Magazine - September 2018 - 63
IEEE Robotics & Automation Magazine - September 2018 - 64
IEEE Robotics & Automation Magazine - September 2018 - 65
IEEE Robotics & Automation Magazine - September 2018 - 66
IEEE Robotics & Automation Magazine - September 2018 - 67
IEEE Robotics & Automation Magazine - September 2018 - 68
IEEE Robotics & Automation Magazine - September 2018 - 69
IEEE Robotics & Automation Magazine - September 2018 - 70
IEEE Robotics & Automation Magazine - September 2018 - 71
IEEE Robotics & Automation Magazine - September 2018 - 72
IEEE Robotics & Automation Magazine - September 2018 - 73
IEEE Robotics & Automation Magazine - September 2018 - 74
IEEE Robotics & Automation Magazine - September 2018 - 75
IEEE Robotics & Automation Magazine - September 2018 - 76
IEEE Robotics & Automation Magazine - September 2018 - 77
IEEE Robotics & Automation Magazine - September 2018 - 78
IEEE Robotics & Automation Magazine - September 2018 - 79
IEEE Robotics & Automation Magazine - September 2018 - 80
IEEE Robotics & Automation Magazine - September 2018 - 81
IEEE Robotics & Automation Magazine - September 2018 - 82
IEEE Robotics & Automation Magazine - September 2018 - 83
IEEE Robotics & Automation Magazine - September 2018 - 84
IEEE Robotics & Automation Magazine - September 2018 - 85
IEEE Robotics & Automation Magazine - September 2018 - 86
IEEE Robotics & Automation Magazine - September 2018 - 87
IEEE Robotics & Automation Magazine - September 2018 - 88
IEEE Robotics & Automation Magazine - September 2018 - 89
IEEE Robotics & Automation Magazine - September 2018 - 90
IEEE Robotics & Automation Magazine - September 2018 - 91
IEEE Robotics & Automation Magazine - September 2018 - 92
IEEE Robotics & Automation Magazine - September 2018 - 93
IEEE Robotics & Automation Magazine - September 2018 - 94
IEEE Robotics & Automation Magazine - September 2018 - 95
IEEE Robotics & Automation Magazine - September 2018 - 96
IEEE Robotics & Automation Magazine - September 2018 - 97
IEEE Robotics & Automation Magazine - September 2018 - 98
IEEE Robotics & Automation Magazine - September 2018 - 99
IEEE Robotics & Automation Magazine - September 2018 - 100
IEEE Robotics & Automation Magazine - September 2018 - 101
IEEE Robotics & Automation Magazine - September 2018 - 102
IEEE Robotics & Automation Magazine - September 2018 - 103
IEEE Robotics & Automation Magazine - September 2018 - 104
IEEE Robotics & Automation Magazine - September 2018 - 105
IEEE Robotics & Automation Magazine - September 2018 - 106
IEEE Robotics & Automation Magazine - September 2018 - 107
IEEE Robotics & Automation Magazine - September 2018 - 108
IEEE Robotics & Automation Magazine - September 2018 - 109
IEEE Robotics & Automation Magazine - September 2018 - 110
IEEE Robotics & Automation Magazine - September 2018 - 111
IEEE Robotics & Automation Magazine - September 2018 - 112
IEEE Robotics & Automation Magazine - September 2018 - 113
IEEE Robotics & Automation Magazine - September 2018 - 114
IEEE Robotics & Automation Magazine - September 2018 - 115
IEEE Robotics & Automation Magazine - September 2018 - 116
IEEE Robotics & Automation Magazine - September 2018 - Cover3
IEEE Robotics & Automation Magazine - September 2018 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com