Behavior Manager Sample Clauses

Behavior Manager. The functionalities described in Section 3 require of a combination of different software modules, and of decision-making abilities to activate/deactivate/supervise the execution of the adequate modules for each case. The Behavior Manager module represents the highest- level decision-making module, and is in charge of implementing those functionalities through the concept of macro-actions. This module is an extension of the one included already in version 2.0. There is a hierarchical architecture for decision-making in XXXXXX with two levels. At the low level, social behaviours are encoded by macro-actions (those behaviors can be learnt beforehand), that can be implemented in different manners, such as Finite State Machines (FSM), control- based, decision-theoretic-based, etc. Each macro-action must provide an interface based on the ROS actionlib for the rest of the system. These macro-actions are then activated when certain events happen and/or inputs are received from the visitor; the Behavior Manager is in charge of producing the adequate transitions between macro-actions. At the highest level of the decision-maker, there is a planner combining the macro-actions and switching between them in order to achieve a final goal, which depends on each XXXXXX scenario. This planner is implemented by the Behavior Manager module by means of a FSM with transitions based on events. The FSM is coded with SMACH5 and is in charge of calling the different macro-actions via ROS actionlib services. Inputs: Requires: Provided by: Connection Type: User High-level Commands User Interface ActiveMQ /TCPROS Macro-Action Status Social Navigation; Body Pose Controller TCPROS Outputs: Provides Required by: Connection Type: Control Signals (via actionlib) Autonomous Social Navigation; Body Pose Controller TCPROS Navigation Goals Autonomous Social Navigation TCPROS 5 xxxx://xxxx.xxx.xxx/smach Commands Status User Interface ActiveMQ /TCPROS
Sample 1
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