Behavior tree driven multi-mobile robots via data distribution service (DDS)

We propose multi-task programming for multi-robots via a behavior tree (BT) as a mean to reduce programming complexity of multi-mobile robots. For multi-mobile concurrent control, robot sensors or actuators data are shared via data distribution service (DDS). In addition to the advantages of DDS, the BT is deployed to control and monitor multi-mobile robots, The BTs are inherently modularized and reactive to the environments, which enables a flexible utilization of multi-mobile robots. With the help of Robot Operating System (ROS2) [1], The BTs are implemented with ROS2 nodes on the DDS that can be executed in both servers and clients for the task allocation. A simple experiment with 50kg, 100kg payload mobile robots built by Hyundai Robotics shows reliable performance with distributed BTs via DDS between servers and robots.