Modularity is a central principle throughout the design process for cyber-physical systems. Modularity reduces complexity and increases reuse of behavior. In this project we aim to we propose a software package that allows a user to implement a control architecture we call a decision structure, that generalises some reactive control architectures which are popular in Artificial Intelligence (AI) and robotics, specifically Teleo-Reactive programs (TRs), Decision Trees (DTs), Behavior Trees (BTs) and Generalised Behavior Trees (k-BTs). The outcome will be a ROS2 package. A solid foundation in programming and discrete mathematics and some knowledge of dynamical systems is required.
The project builds on this paper: https://arxiv.org/pdf/2008.12515.pdf