Related papers: Reconfigurable Behavior Trees: Towards an Executiv…

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…

Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks…

As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable and more natural to interact with. Traditional robot…

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)…

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…

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…

Robotic systems for manipulation tasks are increasingly expected to be easy to configure for new tasks or unpredictable environments, while keeping a transparent policy that is readable and verifiable by humans. We propose the method…

We propose a design for a functional programming language for autonomous agents, built off the ideas and motivations of Behavior Trees (BTs). BTs are a popular model for designing agents behavior in robotics and AI. However, as their growth…

Executing temporal plans in the real and open world requires adapting to uncertainty both in the environment and in the plan actions. A plan executor must therefore be flexible to dispatch actions based on the actual execution conditions.…

In this paper, we present a toolchain to design, execute, and verify robot behaviors. The toolchain follows the guidelines defined by the EU H2020 project RobMoSys and encodes the robot deliberation as a Behavior Tree (BT), a directed tree…

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) 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…

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…

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…

Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain…

Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we…

In this letter we show how to improve the performance of backward chained behavior trees (BTs) that use reinforcement learning (RL). BTs represent a hierarchical and modular way of combining control policies into higher level control…

This paper compares two distinct approaches to modeling robotic behavior: imperative Behavior Trees (BTs) and declarative Executable Ontologies (EO), implemented through the boldsea framework. BTs structure behavior hierarchically using…

The recent advance in autonomous underwater robotics facilitates autonomous inspection tasks of offshore infrastructure. However, current inspection missions rely on predefined plans created offline, hampering the flexibility and autonomy…