The Director is a behaviour framework for autonomous robotics that addresses limitations in existing systems. It provides the following key features:
Modularity and Composability: The Director uses a modular architecture with Providers and Tasks, allowing programmers to focus on developing specific functionalities independently. New Providers and Tasks can be easily added without requiring global changes.
Soft Transitions: The Director supports smooth transitions between actions through the use of 'When' and 'Causing' conditions on Providers. This ensures safe robot motions as tasks change.
Multiple Implementations: Provider groups allow for multiple implementations of the same task, with the active implementation chosen based on environmental conditions and state information. This enables the robot to adapt its actions dynamically.
Strict Resource Control: The Director enforces strict control over resources, such as motors, to prevent conflicts and ensure efficient usage.
The Director was successfully implemented within the NUClear robotics framework and used in the RoboCup Humanoid Soccer League, demonstrating its practical applicability and effectiveness in competitive environments. The modular design and smooth transitions simplified the implementation of new behaviours and enabled the integration of advanced technologies like large language models for higher-level reasoning.
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by Ysobel Sims,... at arxiv.org 05-02-2024
https://arxiv.org/pdf/2309.09248.pdfDeeper Inquiries