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Xuejun Yang

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2 papers

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IROS Conference 2021 Conference Paper

micROS. BT: An Event-Driven Behavior Tree Framework for Swarm Robots

Yunlong Wu 0002
Jinghua Li
Huadong Dai
Xiaodong Yi 0002
Yanzhen Wang
Xuejun Yang

In this paper, we propose micROS. BT, an event-driven behavior tree (BT) framework aiming at supporting swarm-robot coordination. Compared with other BT frame-works, micROS. BT implements the event-driven way under the multi-thread mode, which can effectively save computing resources. Moreover, in order to ensure swarm-robot coordination, we optimize the implementation of the traditional blackboard and propose the multi-mode blackboard, which supports inner-tree, inter-tree, and inter-robot data sharing. Furthermore, considering the limited modularity of a single tree, micROS. BT realizes a mechanism called hierarchical tree management which involves inter-tree notifying and waiting functionalities, while ensuring that each tree is independent and self-scheduled. The effectiveness of micROS. BT is verified by simulation and real-robot experiments for different system settings, showing that a substantial improvement is achieved in comparison with the traditional BT implementations.

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IROS Conference 2020 Conference Paper

An Actor-based Programming Framework for Swarm Robotic Systems

Wei Yi
Bin Di
Ruihao Li 0001
Huadong Dai
Xiaodong Yi 0002
Yanzhen Wang
Xuejun Yang

Programming cooperative tasks for autonomous swarm robotic systems has always been challenging. In this paper, we introduce a concept ‘Actor’, as a virtualization for robot platforms. Every robot platform in the swarm robotic system carries out the task and interacts with others as an Actor. We designed an Actor-based framework for the management of autonomous swarm robotic systems including modules and interfaces for the Actor, the collective Actor, and task management. The Actor-based framework enables task developers to explicitly model cooperative tasks without intricacies about the detailed robotic algorithms or the specific robot brands, and eases the burden on robotic algorithm developers by providing common functionalities. The proposed framework is implemented in C++ and validated quantitatively and qualitatively with a swarm of thirty drones by simulations and a swarm of ten drones by in-field tests.

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