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This paper addresses the concurrency issues affecting Behavior Trees (BTs), a popular tool to model the behaviors of autonomous agents in the video game and the robotics industry. BT designers can easily build complex behaviors composing…
Behavior trees (BTs) emerged from video game development as a graphical language for modeling intelligent agent behavior. However as initially implemented, behavior trees are static plans. This paper adds to recent literature exploring the…
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…
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…
Behavior Trees (BTs) are becoming a popular tool to model the behaviors of autonomous agents in the computer game and the robotics industry. One of the key advantages of BTs lies in their composability, where complex behaviors can be built…
Many manipulation tasks pose a challenge since they depend on non-visual environmental information that can only be determined after sustained physical interaction has already begun. This is particularly relevant for effort-sensitive,…
Behavior trees (BTs) are a popular method for modeling NPC and enemy AI behavior and have been widely used in commercial games. In this work, rather than use BTs to model game playing agents, we use them for modeling game design agents,…
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…
Industrial robots can solve very complex tasks in controlled environments, but modern applications require robots able to operate in unpredictable surroundings as well. An increasingly popular reactive policy architecture in robotics is…
Behavior Trees are commonly used to model agents for robotics and games, where constrained behaviors must be designed by human experts in order to guarantee that these agents will execute a specific chain of actions given a specific set of…
Deploying interactive systems in-the-wild requires adaptability to situations not encountered in lab environments. Our work details our experience about the impact of architecture choice on behavior reusability and reactivity while…
Behavior trees represent a hierarchical and modular way of combining several low-level control policies into a high-level task-switching policy. Hybrid dynamical systems can also be seen in terms of task switching between different…
Behavior Trees (BTs) were first conceived in the computer games industry as a tool to model agent behavior, but they received interest also in the robotics community as an alternative policy design to Finite State Machines (FSMs). The…
In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived from one root node…
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…
Neural networks (NNs) and decision trees (DTs) are both popular models of machine learning, yet coming with mutually exclusive advantages and limitations. To bring the best of the two worlds, a variety of approaches are proposed to…
Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…
We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness in dynamic environments. Traditional robots are limited by…
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…
Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities when starting from a single robot system controlled by a…