English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

In this study, we propose task planning framework for multiple robots thatbuilds on a behavior tree (BT). BTs communicate with a data distributionservice (DDS) to send and receive data. Since the standard BT derived from oneroot node with a single tick is unsuitable for multiple robots, a novel type ofBT action and improved nodes are proposed to control multiple robots through aDDS asynchronously. To plan tasks for robots efficiently, a single taskplanning unit is implemented with the proposed task types. The task planningunit assigns tasks to each robot simultaneously through a single coalesced BT.If any robot falls into a fault while performing its assigned task, another BTembedded in the robot is executed; the robot enters the recovery mode in orderto overcome the fault. To perform this function, the action in the BTcorresponding to the task is defined as a variable, which is shared with theDDS so that any action can be exchanged between the task planning unit androbots. To show the feasibility of our framework in a real-world application,three mobile robots were experimentally coordinated for them to travelalternately to four goal positions by the proposed single task planning unitvia a DDS.

Behavior Tree-Based Task Planning for Multiple Mobile Robots using a Data Distribution Service