Related papers: A principled analysis of Behavior Trees and their …
Stack-of-Tasks (SoT) control allows a robot to simultaneously fulfill a number of prioritized goals formulated in terms of (in)equality constraints in error space. Since this approach solves a sequence of Quadratic Programs (QP) at each…
There are relatively few conventions followed in reinforcement learning (RL) environments to structure the action spaces. As a consequence the application of RL algorithms to tasks with large action spaces with multiple components require…
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…
As Generative AI systems increasingly engage in long-term, personal, and relational interactions, human-AI engagements are becoming significantly complex, making them more challenging to understand and govern. These Interactive AI systems…
There is a concerted effort to build domain-general artificial intelligence in the form of universal neural network models with sufficient computational flexibility to solve a wide variety of cognitive tasks but without requiring…
Although artificial intelligence (AI) is solving real-world challenges and transforming industries, there are serious concerns about its ability to behave and make decisions in a responsible way. Many AI ethics principles and guidelines for…
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…
While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…
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…
Dynamical systems theory and complexity science provide powerful tools for analysing artificial agents and robots. Furthermore, they have been recently proposed also as a source of design principles and guidelines. Boolean networks are a…
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…
How can we enable novice users to create effective task plans for collaborative robots? Must there be a tradeoff between generalizability and ease of use? To answer these questions, we conducted a user study with the CoSTAR system, which…
Autonomous robots may be able to adapt their behavior in response to changes in the environment. This is useful, for example, to efficiently handle limited resources or to respond appropriately to unexpected events such as faults. The…
Transformers have demonstrated impressive capabilities across various tasks, yet their performance on compositional problems remains a subject of debate. In this study, we investigate the internal mechanisms underlying Transformers'…
As a consequence of the increasing influence of machine learning on our lives, everyone needs competencies to understand corresponding phenomena, but also to get involved in shaping our world and making informed decisions regarding the…
Robot missions typically involve a number of desired objectives, such as avoiding collisions, staying connected to other robots, gathering information using sensors and returning to the charging station before the battery runs out. Some of…
Dynamic regression trees are an attractive option for automatic regression and classification with complicated response surfaces in on-line application settings. We create a sequential tree model whose state changes in time with the…
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.…
Attack trees (ATs) are popular graphical models for reasoning about the security of complex systems, allowing for the quantification of risk through so-called AT metrics. A large variety of different such AT metrics have been proposed, and…
This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…