The CARVE consortium consists of the Istituto Italiano di Tecnologia (IIT), Università degli Studi di Genova and United Technologies Research Centre.
Their goal is to propose Behavior Trees as formalism for modelling flexible, composable and reusable hierarchical abstraction for component orchestration in the RobMoSys ecosystem and to develop a set of verification tools for assessing static and run-time properties of robot behaviors. The proposed approach will be validated on real-world scenarios in the domain of service robotics.
Objectives description:
• Extension of Behavioral Trees model for robotic application and integration in RobMoSys for behavior definition.
• Development of formal verification tools to assess correctness of defined behaviors (the approach involves compiling BTs into DFSMs RobMoSys models).
• Development of monitoring models to assess correctness at runtime.
• Integration of YARP in RobMosys at a conceptual/formal level and at implementation level (SmartSoft).
• Demonstration of the approach in real world scenarios.
• Dissemination activities (eg. hands-on sessions at the Winter School on Humanoid Robot Programming).
Expected Impact:
• Creation of a behavior market which complements the component market in RobMoSys.
• Giving access to RobMoSys to the iCub community by making the architecture YARP/iCub compatible.
• Promoting RobMoSys in the iCub community through dissemination activities.
Read more: http://robmosys.eu/carve/