Abstract
In this paper a method for detecting motion patterns and transitions between them in source code describing robotics tasks is proposed, being used to automatically generate flow diagrams of the corresponding task. This is done through the combination of both static and dynamic program analysis, first segmenting original code based on token matching and then using runtime data to judge importance of each segment and relations between them. Generation of flow diagrams is not only a simple way of visualizing overall procedure of complex tasks, but can also be used for current state identification and fail recovery systems. Proposed system is verified through experimentation using PR2 robot on the household task of cleaning up a table, being able to automatically generate a flow diagram with reasonable number of states.
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de Campos Affonso, G., Okada, K., Inaba, M. (2019). Detection of Motion Patterns and Transition Conditions for Automatic Flow Diagram Generation of Robotic Tasks. In: Strand, M., Dillmann, R., Menegatti, E., Ghidoni, S. (eds) Intelligent Autonomous Systems 15. IAS 2018. Advances in Intelligent Systems and Computing, vol 867. Springer, Cham. https://doi.org/10.1007/978-3-030-01370-7_13
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DOI: https://doi.org/10.1007/978-3-030-01370-7_13
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