復旧駆動開発：レシピ型ロボットタスクのための反復的タスクスクリプト手法
Taking Recoveries to Task: Recovery-Driven Development for Recipe-based Robot Tasks
ロボットタスクのエラー復旧を効率的に開発するため、階層的仕様記述と通常タスク・復旧開発の分離、実環境テストを組み合わせたRecovery-Driven Developmentを提案し、FetchIt!チャレンジ優勝システムで有効性を示した。
著者: Siddhartha Banerjee, Angel Daruna, David Kent, Weiyu Liu, Jonathan Balloch, Abhinav Jain, Akshay Krishnan, Muhammad Asif Rana, Harish Ravichandar, Binit Shah, Nithin Shrivatsav, Sonia Chernova
分類: cs.RO
原文アブストラクト
Robot task execution when situated in real-world environments is fragile. As such, robot architectures must rely on robust error recovery, adding non-trivial complexity to highly-complex robot systems. To handle this complexity in development, we introduce Recovery-Driven Development (RDD), an iterative task scripting process that facilitates rapid task and recovery development by leveraging hierarchical specification, separation of nominal task and recovery development, and situated testing. We validate our approach with our challenge-winning mobile manipulator software architecture developed using RDD for the FetchIt! Challenge at the IEEE 2019 International Conference on Robotics and Automation. We attribute the success of our system to the level of robustness achieved using RDD, and conclude with lessons learned for developing such systems.
