Behavior Tree

Overview

NIST ARIAC is a competition to test the ability of robots to perform complex manufacturing tasks in a dynamic environment. The simulation is a py_trees implementation of the EV battery manufacturing tasks.

Legend:

  • Sequence Node (⟶)

  • Selector Node (?)

  • Parallel Node (|⟶|)

  • Looping Decorator (⟳)

  • Inverter Decorator (!)

  • Condition Node: Circular Border

  • Action Node: Normal Borders

Below is the visualization of the behavior tree.

../_images/Task1BehaviorTree.png

View on Figma

Task 1: Inspection and Kit Building

Task 1a: Physical Inspection

Denoted by green-colored nodes in behavior tree. Physical inspection for defects is done on each cell at the inspection station and results are stored for appropriate disposal or advancement of cell.

Task 1b: Conveyor Pickup

Denoted by purple-colored nodes in behavior tree. Conveyor pickup is done by inspection robot 1 and the cell is placed into a voltage tester.

Task 1c: Voltage Inspection

Denoted by blue-colored nodes in behavior tree. The voltage tester’s reading is published after cell voltage inspection completes.

Task 1d: AGV Placement

Denoted by blue-colored nodes in behavior tree. Inspection robot 2 places cells that pass into an AGV or places defective cells into the recycling bin.

Task 1e: Move AGV

Denoted by pink-colored nodes in behavior tree. AGVs are moved to the kit assembly station for kit building once they are filled (all slots must have same cell type).