MRT

Modular Robotic Toolkit

Introduction

This is the Modular Robotic Toolkit user manual, a comprehensive guide to the software architecture for autonomous robots developed by the AIRLab, Artificial Intelligence and Robotic Laboratory of the Dept. of Electronics and Information at Politecnico di Milano.

MRT, Modular Robotic Toolkit, is a framework where a set of off-the- shelf modules can be easily combined and customized to realize robotic appli- cations with minimal effort and time. The framework has been designed to be used in different applications where a distributed set of robot and sensors interact to accomplish tasks, such as: playing soccer in RoboCup, guiding people in indoor environments, and exploring unknown environments in a space setting.

The aim of this manual is to present the software architecture and make the user comfortable with the use and configuration of the different modules that can be integrated in the framework, so that it will be easy to develop robotic applications using MRT. For this reason, each chapter will include some examples of code and configuration files.

MRT Architecture

MrBrian: Multilevel Ruling Brian Reacts by Inferential ActioNs

The Behavior-based Paradigm

The Overall Architecture

Fuzzy predicates

CANDO and WANT Conditions

Informed Hierarchical Composition

Output Generation

Modules

Fuzzyfier

Preacher

Predicate Actions

Candoer

Wanter

Behavior Engine

Rules Behavior

Composer

Defuzzyfier

Parser and Messenger

Configuration Files and Examples

   ==== Fuzzy Sets ====
   ==== Fuzzy Predicates ====
   ==== Predicate Actions ====
   ==== CANDO and WANT Conditions ====
   ==== Playing with activations TODO ====
   ==== Defuzzyfication ====
   ==== Behavior Rules ====
   ==== Behavior List ====
   ==== Behavior Composition ====
   ==== Parser and Messenger ====
   ==== Using Mr. BRIAN ====

MRT

Contents