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In the pursuit of artificial general intelligence, our most significant measurement of progress is an agent's ability to achieve goals in a wide range of environments. Existing platforms for constructing such environments are typically…

This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…

Cognitive modeling, which explores the essence of cognition, including motivation, emotion, and perception, has been widely applied in the artificial intelligence (AI) agent domains, such as robotics. From the computational perspective,…

A novel approach is provided for evaluating the benefits and burdens from vehicle modularity in fleets/units through the analysis of a game theoretical model of the competition between autonomous vehicle fleets in an attacker-defender game.…

The possibility to create reactive robot programs faster without the need for extensively trained programmers is becoming increasingly important. So far, it has not been explored how various techniques for creating Behavior Tree (BT)…

Developing applications considering reactiveness, scalability and re-usability has always been at the center of attention of robotic researchers. Behavior-based architectures have been proposed as a programming paradigm to develop robust…

Designers of autonomous agents, whether in physical or virtual environments, need to express nondeterminisim, failure, and parallelism in behaviors, as well as accounting for synchronous coordination between agents. Behavior Trees are a…

The vector cost bimatrix game is a method for multi-objective decision making that enables autonomous robotic systems to optimize for multiple goals at once while avoiding worst-case scenarios in neglected objectives. We expand this…

Agent-based models (ABMs) and video games, including those taking advantage of virtual reality (VR), have undergone a remarkable parallel evolution, achieving impressive levels of complexity and sophistication. This paper argues that while…

Behavior Trees constitute a widespread AI tool which has been successfully spun out in robotics. Their advantages include simplicity, modularity, and reusability of code. However, Behavior Trees remain a high-level decision making engine;…

In modern computer experiment applications, one often encounters the situation where various models of a physical system are considered, each implemented as a simulator on a computer. An important question in such a setting is determining…

Modern industrial applications require robots to be able to operate in unpredictable environments, and programs to be created with a minimal effort, as there may be frequent changes to the task. In this paper, we show that genetic…

There is a growing interest in Behavior Trees (BTs) as a tool to describe and implement robot behaviors. BTs were devised in the video game industry and their adoption in robotics resulted in the development of ad-hoc libraries to design…

Spatial organization is a core challenge for all large agent-based models with local interactions. In biological tissue models, spatial search and reinsertion are frequently reported as the most expensive steps of the simulation. One of the…

Recent advances in artificial intelligence have been driven by the presence of increasingly realistic and complex simulated environments. However, many of the existing environments provide either unrealistic visuals, inaccurate physics, low…

Robotic task execution faces challenges due to the inconsistency between symbolic planner models and the rich control structures actually running on the robot. In this paper, we present the first physical deployment of an integrated…

In recent years, the role of artificially intelligent (AI) agents has evolved from being basic tools to socially intelligent agents working alongside humans towards common goals. In such scenarios, the ability to predict future behavior by…

When designing systems that are complex, dynamic and stochastic in nature, simulation is generally recognised as one of the best design support technologies, and a valuable aid in the strategic and tactical decision making process. A…

In this paper, we enable automated property verification of deliberative components in robot control architectures. We focus on formalizing the execution context of Behavior Trees (BTs) to provide a scalable, yet formally grounded,…

Evolutionary Robotics allows robots with limited sensors and processing to tackle complex tasks by means of sensory-motor coordination. In this paper we show the first application of the Behaviour Tree framework to a real robotic platform…