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undergraduate thesis
Primjena stabala ponašanja za robusno izvršavanje zadataka robotskih sustava
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:152554
Markovinović, Luka
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Markovinović, L. (2020). Primjena stabala ponašanja za robusno izvršavanje zadataka robotskih sustava (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:152554

Markovinović, Luka. "Primjena stabala ponašanja za robusno izvršavanje zadataka robotskih sustava." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:152554

Markovinović, Luka. "Primjena stabala ponašanja za robusno izvršavanje zadataka robotskih sustava." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:152554

Markovinović, L. (2020). 'Primjena stabala ponašanja za robusno izvršavanje zadataka robotskih sustava', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 02 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:152554

Markovinović L. Primjena stabala ponašanja za robusno izvršavanje zadataka robotskih sustava [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 November 02] Available at: https://urn.nsk.hr/urn:nbn:hr:168:152554

L. Markovinović, "Primjena stabala ponašanja za robusno izvršavanje zadataka robotskih sustava", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:152554

Metadata
TitlePrimjena stabala ponašanja za robusno izvršavanje zadataka robotskih sustava
Title (english)Behavior Tree method for robust execution of tasks in robotic systems
AuthorLuka Markovinović
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberTamara Petrović (član povjerenstva)
Committee memberAna Milas (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-09, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom radu istražena su stabla ponašanja za planiranje izvršavanja robotskih zadataka te dostupne biblioteke za njihovu primjenu. Proučena su stabla ponašanja kao alternativa konačnim automatima. Implementacija primjera napravljena je u ROS Behavior Tree biblioteci čije je korištenje također objašnjeno, Gazebo simulatoru kao i u Turtlesim alatu. Osmišljena je kompleksnija teorijska struktura stabla ponašanja za misiju letjelice koja gasi požare uz slijeđenje trajektorije. Također, proučeni su problemi ostvarenja praćenja trajektorije kod stabala ponašanja i opisana su moguća rješenja.
Abstract (english)
This paper considers behavior trees for robotic task execution as well as open source libraries for their implementation. Behavior trees have been compared with finite state machines to acknowledge the pros and cons of their usage. Test scenarios were made using ROS Behavior Tree library, with an explanation how to use it, as well as Gazebo and Turtlesim simulators. More complex behavior tree structure was composed for an UAV mission which was putting out fires while following a trajectory. Furthermore, trajectory following problems while using behavior trees were analysed and some improvements have been suggested.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:152554
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-01-14 09:27:07