A Flexible High and Low Level Multi Task Behavior Framework for Multi-agent Systems in Complex Environments

This paper introduces a framework for behavior modeling of software agents using the Robot Operating System. We developed a framework to simplify behavior design and model conventional software agent design principles as known for example from belief desire intention BDI agents or adaptive agents. We provide a toolbox that is capable of supporting the developer with easy to implement methods written in python. Finally we present two brief example applications and evaluations in both simulation and using a social automated transport vehicle for intralogistical processes.