Planning

[lukicdarkoo]

The robot has to perform many actions to achieve an objective (maximize the number of points in our case). Keep in mind that we have many unexpected events like an opponent blocking a trajectory or a hardware failure. To tackle it, we typically utilize FSMs. However, in ROS, Behaviour Trees are widely adopted as a superior alternative (there is a heated discussion on this topic).

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High-level tasks:

• Integrate BehaviorTree.CPP
• Demonstrate that basic tasks can be specified in Groot

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Resources:

• Presentation by the maintainer of BehaviorTree package: https://www.youtube.com/watch?v=22KUPktetzg