UROP Project
Automated Planning of Collaborative Assembly Processes with Behavior Trees
Contact
Key Info
Basic Information
- Project Offer-Number:
- 1178
- Category:
- UROP International, RWTH UROP
- Field:
- Mechanical Engineering
- Faculty:
- 4
- Organisation unit:
- WZL
- Language Skills:
- English
- Computer Skills:
- Python, ROS
MoveOn
Excellence Cluster: Internet of Production
Behavior trees (BTs) are mathematical models of plan execution used in e.g. robotics. BTs organize a system's behavior in a hierarchical tree structure. Contrary to state machines, they model tasks rather than states. BTs are modular, reactive, and can be easily extended. Also, BT are intuitive and understandable for non-experts. In the field of collaborative robotics, BTs can be used for automated planning of collaborative assembly processes and simple programming of robots.
Task
In this project, a BT will be modeled and used to control a robot simulation /real robot performing an assembly task in collaboration with a human. Further subtasks (e.g. use of Computer Vision) are possible depending on the interests / skills of the students. This project can be executed in a group of up to 3 people.
Requirements
Solid programming skills and basic knowledge in ROS and robotics. Experience in CV, planning etc. are desirable. Highly motivated and enthusiastic about robotics.