Developer: Francesco Rovida
License: BSD
Last update: 10/04/2017
Compatibility: Has been tested with Ubuntu 14.04 and Python 2.7
extended Behavior Tree is an extention of the standard Behavior Tree model to integrate scripted and planned procedures, with a direct applicability for robot task management.
It is possible to executing a demo running main.py. The demo gives an example on how the expansion and optimization of a sequence of skills works, by printing out in text format the standard expansion, and the optimize expansion.
The skill set is defined in the data/skill.py file. The base ontology is defined in the data/base_ontology.owl file. (You can use the open-source app Protege to visualize it)
Note: for simplicity this package doesn't have the interfaces with the SkiROS package (https://github.com/frovida/skiros). World model and planned sequence are defined in code
- rdflib
- semanticnet
- pip install rdflib
- pip install semanticnet
Run in a terminal: python main.py
In the folder results/ you can find the output file with (i) the initial scene, (ii) the initial eBT and (iii) the optimized eBT.
You can toggle the output verbosity by changing line 17 from verbose=False to verbose=True