Constraint-based robot programming allows for implementing sensor-based skills that react to disturbances on the one hand, and composable skills that dynamically create and reconfigure complex robot behaviors on the other hand. In this letter, we address a class of problems where composing appropriate skills prior to execution is inconvenient due to unpredictable events of disturbances. To this end, we propose an autonomous replanning and acting framework that computes and executes reactive composed skills at runtime. We formulate a model of constraint-based skills and present methods for executing concurrent skill compositions at runtime without interrupting the ongoing task execution. In order to autonomously compute reactive composed skills at runtime, we propose a temporal description of planning actions, corresponding to robot skills, that ensures concurrency at the task planning level. We validate our work on a dual-arm robot system that performs an industrial assembly task while reacting to obstacle and human-induced disturbances at runtime.

中文翻译：

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使用并发任务规划的基于传感器的技能的自主运行时组合


基于约束的机器人编程一方面可以实现基于传感器的技能，对干扰做出反应，另一方面可以实现动态创建和重新配置复杂机器人行为的可组合技能。在这封信中，我们解决了一类问题，即由于不可预测的干扰事件，在执行之前编写适当的技能是不方便的。为此，我们提出了一个自主重新规划和执行框架，可以在运行时计算和执行反应式组合技能。我们制定了基于约束的技能模型，并提出了在运行时执行并发技能组合而不中断正在进行的任务执行的方法。为了在运行时自主计算反应性组合技能，我们提出了与机器人技能相对应的规划动作的时间描述，以确保任务规划级别的并发性。我们验证了双臂机器人系统的工作，该系统执行工业装配任务，同时在运行时对障碍物和人为干扰做出反应。