Productive Multitasking for Industrial Robots

This repository lets you see and run an isolated version of the state machine/behavior tree code behind the paper "Productive Multitasking for Industrial Robots" published at ICRA 2021:

@misc{wuthier2021productive,
      title={Productive Multitasking for Industrial Robots}, 
      author={D. Wuthier and F. Rovida and M. Fumagalli and V. Krüger},
      year={2021},
      eprint={2108.11471},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

Installation (Windows, MacOS, Linux)

Install Python 3 with numpy.

Usage

Simply execute src/behavior_tree.py or src/finite_state_machine.py. The output shows how the behavior tree and the finite state machine evolve in two examples of simulated execution.