Robotic task planning and execution for the Tiago robot in daily-life kitchen activities

Abstract

The purpose of this project is to develop a framework that integrates a high-level planner, such as PlanSys2, with a low-level system oriented towards specific solutions using Behavior Trees. The main objective is to implement a complete system in which a manipulator is capable of adaptively operating within a defined environment with which it must interact. In this work, an in-depth study of task planning and symbolic programming is carried out, as well as the tools necessary for its implementation. Through the use of PlanSys2 and Behav- iorTree.CPP, a modular and decoupled system is proposed that plans at an abstract level, inde- pendent of the physical platform, and offers generalization, adaptability, and reuse capabilities in different scenarios. The developed software has been validated in a simulated environment, inspired by daily-life activities that can be found in manipulation environments, where its functionalities have been systematically evaluated.