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<p><i>Robotic Kitting</i> means the creation of parts assortment to be used later. These parts are selected from one or more containers in which there are different types of them randomly distributed. The <i>Anchoring Problem</i> should be considered if we want to provide a general solution to robotic kitting, since users want that it works with different types of parts that are not known ’a priori’. Therefore, we are working on a human supervised approach in which <i>Behavior Trees</i>, robot learning and human-robot interaction are used to anchor percepts and operations to symbols during commissioning or reconfiguration phases. In this paper we explain: (1) the anchoring mechanisms in our system and how behavior trees can be used to represent an anchor, and (2) how <i>Genetic Programming</i> is used to generate <i>Conditional Behavior</i> Trees that anchor symbolic actions to robot operations.</p>

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Anchoring actions using conditional behavior trees and genetic programming

  • 期刊论文

  • 发表日期：

    2025年2月27日

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  • Diego Escudero-Rodrigo,
  • René Alquezar,
  • Joan Aranda

摘要

Robotic Kitting means the creation of parts assortment to be used later. These parts are selected from one or more containers in which there are different types of them randomly distributed. The Anchoring Problem should be considered if we want to provide a general solution to robotic kitting, since users want that it works with different types of parts that are not known ’a priori’. Therefore, we are working on a human supervised approach in which Behavior Trees, robot learning and human-robot interaction are used to anchor percepts and operations to symbols during commissioning or reconfiguration phases. In this paper we explain: (1) the anchoring mechanisms in our system and how behavior trees can be used to represent an anchor, and (2) how Genetic Programming is used to generate Conditional Behavior Trees that anchor symbolic actions to robot operations.