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Autonomous Parallelization of Resource-Aware Robotic Task Nodes

Brunner, Sebastian Georg and Dömel, Andreas and Lehner, Peter and Beetz, Michael and Stulp, Freek (2019) Autonomous Parallelization of Resource-Aware Robotic Task Nodes. IEEE Robotics and Automation Letters, 4 (3), pp. 2599-2606. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2019.2894463. ISSN 2377-3766.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/8620533


Robot task programming often leads to inefficient plans, as opportunities for parallelization and precomputation are usually not exploited by the programmer. This inefficiency is often especially obvious in mobile manipulation, where path planning and pose estimation algorithms are time-consuming operations. In this paper, we introduce the concept of Resource-Aware Task Nodes (RATNs), a powerful descriptive action model for robots. Next, we propose an algorithm that executes so-called Concurrent Dataflow Task Networks (CDTNs), robot plans consisting of RATNs. It optimizes programmed plans based on two sources of information: 1)~The control flow represented in the original task plan, whose constraints are relaxed to generate opportunities for parallelization and precomputation. 2)~Dependencies between actions pertaining to resources, data flows and world model changes, the latter being equivalent to preconditions and effects. CDTNs have been integrated in our open-source task programming framework RAFCON, and we show that it leads to 11-29\% improvement in terms of execution time in two simulated mobile manipulation scenarios.

Item URL in elib:https://elib.dlr.de/128828/
Document Type:Article
Title:Autonomous Parallelization of Resource-Aware Robotic Task Nodes
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Brunner, Sebastian GeorgUNSPECIFIEDhttps://orcid.org/0000-0001-9359-3703UNSPECIFIED
Dömel, AndreasUNSPECIFIEDhttps://orcid.org/0000-0003-3694-5201UNSPECIFIED
Lehner, PeterUNSPECIFIEDhttps://orcid.org/0000-0002-3755-1186UNSPECIFIED
Beetz, MichaelUniversität Bremenhttps://orcid.org/0000-0002-7888-7444UNSPECIFIED
Stulp, FreekUNSPECIFIEDhttps://orcid.org/0000-0001-9555-9517UNSPECIFIED
Date:July 2019
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 2599-2606
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Software, Middleware and Programming Environments; Autonomous Agents; Mobile Manipulation; Planning, Scheduling and Coordination; Agent-Based Systems
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Brunner, Sebastian
Deposited On:02 Sep 2019 09:27
Last Modified:14 Dec 2019 04:23

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