Semi-Autonomous Behaviour Tree-Based Framework for Sorting Electric Vehicle Batteries Components

Alireza Rastegarpanah; Hector Cruz Gonzalez; Rustam Stolkin

doi:10.3390/robotics10020082

Semi-Autonomous Behaviour Tree-Based Framework for Sorting Electric Vehicle Batteries Components

Alireza Rastegarpanah, Hector Cruz Gonzalez, Rustam Stolkin

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34 Citations (Scopus)

3 Downloads (Pure)

Abstract

The process of recycling electric vehicle (EV) batteries currently represents a significant challenge to the waste management automation industry. One example of it is the necessity of removing and sorting dismantled components from EV battery pack. This paper proposes a novel framework to semi-automate the process of removing and sorting different objects from an EV battery pack using a mobile manipulator. The work exploits the Behaviour Trees model for cognitive task execution and monitoring, which links different robot capabilities such as navigation, object tracking and motion planning in a modular fashion. The framework was tested in simulation, in both static and dynamic environments, and it was evaluated based on task time and the number of objects that the robot successfully placed in the respective containers. Results suggested that the robot’s success rate in accomplishing the task of sorting the battery components was 95% and 82% in static and dynamic environments, respectively.

Original language	English
Article number	82
Number of pages	18
Journal	Robotics
Volume	10
Issue number	2
Early online date	17 Jun 2021
DOIs	https://doi.org/10.3390/robotics10020082
Publication status	Published - Jun 2021

Bibliographical note

Copyright © 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).

Data Access Statement

The data that support the findings of this study (Semi-autonomous Behaviour Tree-Based Framework For Sorting Electric Vehicle Batteries Components) are openly available in Figshare (https://figshare.com/s/ddb832077aff5ccda96e (accessed on 15 June 2021)) with doi (10.6084/m9.figshare.13360349).

Funding

This research was conducted as part of a project called Reuse and Recycling of Lithium-Ion Batteries (RELIB). This work was supported by the Faraday Institution [grant number FIRG005].

Keywords

Behaviour Trees
electric vehicle batteries
mobile manipulator
recycling
semi-autonomous robot

Access to Document

10.3390/robotics10020082Licence: CC BY 4.0

Semi-Autonomous Behaviour Tree-Based Framework for Sorting Electric Vehicle Batteries Components
Copyright © 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
Final published version, 1.99 MBLicence: CC BY 4.0

Cite this

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abstract = "The process of recycling electric vehicle (EV) batteries currently represents a significant challenge to the waste management automation industry. One example of it is the necessity of removing and sorting dismantled components from EV battery pack. This paper proposes a novel framework to semi-automate the process of removing and sorting different objects from an EV battery pack using a mobile manipulator. The work exploits the Behaviour Trees model for cognitive task execution and monitoring, which links different robot capabilities such as navigation, object tracking and motion planning in a modular fashion. The framework was tested in simulation, in both static and dynamic environments, and it was evaluated based on task time and the number of objects that the robot successfully placed in the respective containers. Results suggested that the robot{\textquoteright}s success rate in accomplishing the task of sorting the battery components was 95% and 82% in static and dynamic environments, respectively.",

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Semi-Autonomous Behaviour Tree-Based Framework for Sorting Electric Vehicle Batteries Components

Abstract

Bibliographical note

Data Access Statement

Funding

Keywords

Access to Document

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