Related papers: Implementation of BT-trees
Embedded devices collect and process significant amounts of data in a variety of applications including environmental monitoring, industrial automation and control, and other Internet of Things (IoT) applications. Storing data efficiently…
Treemaps have been used in information visualisation for over two decades. They make use of nested filled areas to represent information hierarchies such as file systems, library catalogues, etc. Recent years have witnessed the emergence of…
Path planning through complex obstacle spaces is a fundamental requirement of many mobile robot applications. Recently a rapid convergence path planning algorithm, Batch Informed Trees (BIT*), was introduced. This work serves as a concise…
Behavior Trees (BT) are becoming increasingly popular in the robotics community. The BT tool is well suited for decision-making applications allowing a robot to perform complex behavior while being explainable to humans as well. Verifying…
Btree and Rtree are two basic index structures; many different variants of them are proposed after them. Different variants are used in specific application for the performance optimization. In this paper different variants of Btree and…
A Behavior Tree (BT) is a way to structure the switching between different tasks in an autonomous agent, such as a robot or a virtual entity in a computer game. BTs are a very efficient way of creating complex systems that are both modular…
Unbalanced optimal transport (UOT) has been widely used as a fundamental tool in many application domains, where it often dominates the application running time. While many researchers have proposed various optimizations for UOT, few have…
Behavior trees (BTs) are an optimally modular framework to assemble hierarchical hybrid control policies from a set of low-level control policies using a tree structure. Many robotic tasks are naturally decomposed into a hierarchy of…
The "ordered set" abstract data type with operations "insert", "erase", "find", "min", "max", "next" and "prev" is ubiquitous in computer science. It is usually implemented with red-black trees, $B$-trees, or $B^+$-trees. We present our…
In this work, we develop the Batch Belief Trees (BBT) algorithm for motion planning under motion and sensing uncertainties. The algorithm interleaves between batch sampling, building a graph of nominal trajectories in the state space, and…
Behavior Trees (BTs) were invented as a tool to enable modular AI in computer games, but have received an increasing amount of attention in the robotics community in the last decade. With rising demands on agent AI complexity, game…
Behavior Trees (BTs) have found a widespread adoption in robotics due to appealing features, their ease of use as a conceptual model of control policies and the availability of software tooling for BT-based design of control software.…
Behavior Trees (BTs) have become a popular framework for designing controllers of autonomous agents in the computer game and in the robotics industry. One of the key advantages of BTs lies in their modularity, where independent modules can…
Tree-based data structures are ubiquitous across applications. Therefore, a multitude of different tree implementations exist. However, while these implementations are diverse, they share a tree structure as the underlying data structure.…
In concurrent data structures, the efficiency of set operations can vary significantly depending on the workload characteristics. Numerous concurrent set implementations are optimized and fine-tuned to excel in scenarios characterized by…
As complex autonomous robotic systems become more widespread, the need for transparent and reusable Artificial Intelligence (AI) designs becomes more apparent. In this paper we analyse how the principles behind Behavior Trees (BTs), an…
Gradient Boosted Decision Trees (GBDTs) are dominant machine learning algorithms for modeling discrete or tabular data. Unlike neural networks with millions of trainable parameters, GBDTs optimize loss function in an additive manner and…
PQ-trees and PC-trees are data structures that represent sets of linear and circular orders, respectively, subject to constraints that specific subsets of elements have to be consecutive. While equivalent to each other, PC-trees are…
Small devices collecting data for agricultural, environmental, and industrial monitoring enable Internet of Things (IoT) applications. Given their critical role in data collection, there is a need for optimizations to improve on-device data…
A widely used method for determining the similarity of two labeled trees is to compute a maximum agreement subtree of the two trees. Previous work on this similarity measure is only concerned with the comparison of labeled trees of two…