Related papers: Reconfigurable Behavior Trees: Towards an Executiv…
Autonomous robots combine a variety of skills to form increasingly complex behaviors called missions. While the skills are often programmed at a relatively low level of abstraction, their coordination is architecturally separated and often…
Modern manufacturing demands robotic assembly systems with enhanced flexibility and reliability. However, traditional approaches often rely on programming tailored to each product by experts for fixed settings, which are inherently…
This paper proposes an Interactive Inference Behavior Tree (IIBT) framework that integrates behavior trees (BTs) with active inference under the free energy principle for distributed multi-robot decision-making. The proposed IIBT node…
Behavior Trees (BTs) offer a powerful paradigm for designing modular and reactive robot controllers. BT planning, an emerging field, provides theoretical guarantees for the automated generation of reliable BTs. However, BT planning…
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…
With the rising demand for flexible manufacturing, robots are increasingly expected to operate in dynamic environments where local -- such as slight offsets or size differences in workpieces -- are common. We propose to address the problem…
With the advancements in modern intelligent technologies, mobile robots equipped with manipulators are increasingly operating in unstructured environments. These robots can plan sequences of actions for long-horizon tasks based on perceived…
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…
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,…
Fast changing tasks in unpredictable, collaborative environments are typical for medium-small companies, where robotised applications are increasing. Thus, robot programs should be generated in short time with small effort, and the robot…
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…
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…
The Industry 4.0 paradigm manifests the shift towards mass customization and cyber-physical production systems (CPPS) and sets new requirements for industrial automation software in terms of modularity, flexibility, and short development…
In recent years, the model of computation known as Behavior Trees (BT), first developed in the video game industry, has become more popular in the robotics community for defining discrete behavior switching. BTs are threatening to supplant…
It is difficult to create robust, reusable, and reactive behaviors for robots that can be easily extended and combined. Frameworks such as Behavior Trees are flexible but difficult to characterize, especially when designing reactions and…
Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective…
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…
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…
Interpretable policy representations like Behavior Trees (BTs) and Dynamic Motion Primitives (DMPs) enable robot skill transfer from human demonstrations, but each faces limitations: BTs require expert-crafted low-level actions, while DMPs…
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…