Related papers: Implementing Behavior Trees using Three-Valued Log…
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…
Conflict transformation and management are complex decision processes with extremely high stakes at hand and could greatly benefit from formal approaches to decision support. For this purpose we develop a general framework about how to use…
Recent work has shown that the input-output behavior of some machine learning systems can be captured symbolically using Boolean expressions or tractable Boolean circuits, which facilitates reasoning about the behavior of these systems.…
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…
Inference-Time-Compute (ITC) methods like Best-of-N and Tree-of-Thoughts are meant to produce output candidates that are both high-quality and diverse, but their use of high-temperature sampling often fails to achieve meaningful output…
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 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.…
Logic languages based on the theory of rational, possibly infinite, trees have much appeal in that rational trees allow for faster unification (due to the safe omission of the occurs-check) and increased expressivity (cyclic terms can…
We present the notion of stateful priorities for imposing precise restrictions on system actions, in order to meet safety constraints. By using stateful priorities we are able to exclusively restrict erroneous system behavior as specified…
In this paper, we define an intuitionistic version of Computation Tree Logic. After explaining the semantic features of intuitionistic logic, we examine how these characteristics can be interesting for formal verification purposes.…
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…
Behavior Trees (BTs) have found a widespread adoption in robotics due to appealing features, their ease of use as a conceptual model of control policies and the availability of software tooling for BT-based design of control software.…
We present an elementary introduction to a new logic for reasoning about behaviors that occur over time. This logic is based on temporal type theory. The syntax of the logic is similar to the usual first-order logic; what differs is the…
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…
The abundance of process operating data in modern industries, along with the rapid advancement of learning techniques, has led to a paradigm shift towards data-centric analysis and control. However, integrating machine learning with control…
Using Machine Learning systems in the real world can often be problematic, with inexplicable black-box models, the assumed certainty of imperfect measurements, or providing a single classification instead of a probability distribution. This…
As a contribution to the challenge of building game-playing AI systems, we develop and analyse a formal language for representing and reasoning about strategies. Our logical language builds on the existing general Game Description Language…
Constructing a conceptual model as an abstract representation of a portion of the real world involves capturing the (1) static (things/objects and trajectories of flow), (2) the dynamic (event identification), and (3) the behavior (e.g.,…
We describe here a simple application of rational trees to the implementation of an interpreter for a procedural language written in a logic programming language. This is possible in languages designed to support rational trees (such as…
Behavior Trees (BTs) are high-level controllers that are useful in a variety of planning tasks and are gaining traction in robotic mission planning. As they gain popularity in safety-critical domains, it is important to formalize their…