Convergence of Internet, Broadcasting and Communication

Robot Software Framework using Robot Operation System(ROS2) based on Behavior Tree



As robotic technology expands into various fields, robots need to execute some complicated tasks in diverse environments. However, the previous robotic software solutions were limited to independent systems. We can not adapt to diverse functionalities and environments. This makes it hard to provide rapid and effective services and leads to costs and losses in the development process. To overcome these problems, we propose a robot software framework with behavior trees based on ROS2. This framework simplifies complex robot behaviors through behavior trees and makes it easy to modify, extend, and reuse robot behaviors. Furthermore, ROS2 standardizes connections between software modules, enhances the robot's flexibility, and enables independent development and testing of software. Our framework aims to provide a foundation for high-quality robot service provision by supporting the modularity, reusability, independent development, and testing required by intelligent robots that need to provide services in various environments.


1. Introduction
2. Related Works
3. Behavior tree based on Robot Software Framework Implementation
3.1 Development and Operational Environment
3.2 Behavior Tree-based Robotic Software Framework
4. A Case Study for Humanoid Robot
5. Conclusions


  • Sangho Lee M.S student, Software Engineering Laboratory, Hongik University, Director, Dept. of Applied Technology Research, Rastech
  • Hyejin Chang Director, Dept. of Applied Technology Research, Rastech
  • Seulgi Jeon Director, Dept. of Applied Technology Research, Rastech
  • Janghwan Kim PhD. Candidate, Dept. of Computer Engineering, Mokpo National University
  • e R. Young Chul Kim Professor, Dept. Software and Communications Engineering, Hongik University


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