Related papers: A Resourceful Reframing of Behavior Trees
In this paper we provide a formal framework for comparing the expressive power of Behavior Trees (BTs) to other action selection architectures. Taking inspiration from the analogous comparisons of structural programming methodologies, we…
Providing accurate/suitable information on behaviors in sma\-rt environments is a challenging and crucial task in pervasive computing where context-awareness and pro-activity are of fundamental importance. Behavioral identifications enable…
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,…
Language models trained on internet-scale data sets have shown an impressive ability to solve problems in Natural Language Processing and Computer Vision. However, experience is showing that these models are frequently brittle in unexpected…
In this paper we will give a control theoretic perspective on the research area of behavior trees in robotics. The key idea underlying behavior trees is to make use of modularity, hierarchies and feedback, in order to handle the complexity…
We propose a hybrid combination of active inference and behavior trees (BTs) for reactive action planning and execution in dynamic environments, showing how robotic tasks can be formulated as a free-energy minimization problem. The proposed…
Heterogeneous Robot Teams can provide a wide range of capabilities and therefore significant benefits when handling a mission. However, they also require new approaches to capability and mission definition that are not only suitable to…
Behavior Trees (BTs) provide a lean set of control flow elements that are easily composable in a modular tree structure. They are well established for modeling the high-level behavior of non-player characters in computer games and recently…
Decision making can be difficult when there are many actors (or agents) who may be coordinating or competing to achieve their various ideas of the optimum outcome. Here I present a simple decision making model with an explicitly…
Agentic code generation requires large language models (LLMs) capable of complex context management and multi-step reasoning. Prior multi-agent frameworks attempt to address these challenges through collaboration, yet they often suffer from…
Organization concepts and models are increasingly being adopted for the design and specification of multi-agent systems. Agent organizations can be seen as mechanisms of social order, created to achieve global (or organizational) objectives…
With consideration to behavior trees and their relevance to planning and control, within and without game development, the distinction between stateful and stateless models is discussed; a three-valued logic bridging traditional control…
In this paper, we show how a planning algorithm can be used to automatically create and update a Behavior Tree (BT), controlling a robot in a dynamic environment. The planning part of the algorithm is based on the idea of back chaining.…
In this paper, we show how Behavior Trees that have performance guarantees, in terms of safety and goal convergence, can be extended with components that were designed using machine learning, without destroying those performance guarantees.…
Behavior Trees (BTs) got the robotics society attention not least thanks to their modularity and reusability. The subtrees of BTs could be treated as separate behaviors and therefore reused. We address the following research question: do we…
The diversity of agent behaviors is an important topic for the quality of video games and virtual environments in general. Offering the most compelling experience for users with different skills is a difficult task, and usually needs…
In multiagent systems autonomous agents interact with each other to achieve individual and collective goals. Typical interactions concern negotiation and agreement on resource exchanges. Modeling and formalizing these agreements pose…
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…
Expressing attack-defence trees in a multi-agent setting allows for studying a new aspect of security scenarios, namely how the number of agents and their task assignment impact the performance, e.g. attack time, of strategies executed by…
In recent years, robots are used in an increasing variety of tasks, especially by small- and medium- sized enterprises. These tasks are usually fast-changing, they have a collaborative scenario and happen in unpredictable environments with…