ROS 2-Based Flexible Behavior Engine for Flexible Navigation

Joshua M. Zutell,David C. Conner,Philipp Schillinger

SoutheastCon 2022（2022）

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摘要

Hierarchical Finite State Machines (HFSM) are commonly used as high-level behavioral control strategies for robotic systems. Over the years a number of behavior engines have been developed for the original Robot Operating System (ROS 1), including the popular Flexible Behavior Engine (FlexBE). In recent years a new ROS 2 system has been developed to improve communication performance by using the D...

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关键词

Protocols,Navigation,Operating systems,Collaboration,Automata,User interfaces,Systems support

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