Related papers: Behavior Trees and State Machines in Robotics Appl…

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…

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…

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…

This paper explores the role of operating system and high-level languages in the development of software and domain-specific languages (DSLs) for self-reconfigurable robotics. We review some of the current trends in self-reconfigurable…

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…

The Sixth International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob'15) was held September 28, 2015 in Hamburg (Germany), as part of the IROS 2015 conference. The main topics of the workshop were…

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…

Domain specific languages (DSLs) allow domain experts to model parts of the system under development in a problem-oriented notation that is well-known in the respective domain. The introduction of a DSL is often accompanied the desire to…

Reuse is a key technique for a more efficient development and ensures the quality of the results. In object technology explicit encapsulation, interfaces, and inheritance are well known principles for independent development that enable…

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…

The realization of intelligent robots, operating autonomously and interacting with other intelligent agents, human or artificial, requires the integration of environment perception, reasoning, and action. Classic Artificial Intelligence…

Background:Technical systems are growing in complexity with more components and functions across various disciplines. Model-Driven Engineering (MDE) helps manage this complexity by using models as key artifacts. Domain-Specific Languages…

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…

Language models trained on internet-scale data sets have shown an impressive ability to solve problems in Natural Language Processing and Computer Vision. However, experience is showing that these models are frequently brittle in unexpected…

Robot world model representations are a vital part of robotic applications. However, there is no support for such representations in model-driven engineering tool chains. This work proposes a novel Domain Specific Language (DSL) for robotic…

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,…

In this paper we provide a practical demonstration of how the modularity in a Behavior Tree (BT) decreases the effort in programming a robot task when compared to a Finite State Machine (FSM). In recent years the way to represent a task…

Cyber-physical production systems increasingly involve collaborative robotic missions, requiring more demand for robust and safe missions. Industries rely on risk assessments to identify potential failures and implement measures to mitigate…

This paper introduces LLM-MARS, first technology that utilizes a Large Language Model based Artificial Intelligence for Multi-Agent Robot Systems. LLM-MARS enables dynamic dialogues between humans and robots, allowing the latter to generate…

Full integration of robots into real-life applications necessitates their ability to interpret and execute natural language directives from untrained users. Given the inherent variability in human language, equivalent directives may be…