使用执行管理功能编程机器人行为
Programming Robot Behaviors with Execution Management Functions
摘要：
自主机器人的控制架构可以通过编程和集成多个软件组件来开发，这些组件分别控制单独的行为。这种方法需要额外的机制来协调它们的并发执行。本文提出了一种编程方法，这样的组件，旨在促进其协调执行。每个组件都被编程为一个模块，该模块控制单独的机器人行为以及一组用于执行管理的功能。该建议的细节以称为\textit{behaviorlib}的基于ROS的软件库的形式制定。该解决方案已被用于编程通用行为控制器，这些控制器已成功地重用于构建空中机器人中的多个应用程序。
英文摘要：
The control architecture of autonomous robots can be developed by programming and integrating multiple software components that individually control separate behaviors. This approach requires additional mechanisms to coordinate their concurrent execution. This paper presents a programming method for such components that has been designed to facilitate their coordinated execution. Each component is programmed as a module that controls a separate robot behavior together with a set of functions for execution management. The details of this proposal are formulated in the form of a ROS-based software library called \textit{behaviorlib}. This solution has been used to program general behavior controllers that have been successfully reused to build multiple applications in aerial robotics.
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