Related papers: Behavior Trees for Robust Task Level Control in Ro…
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,…
This paper presents a novel approach to generating behavior trees for robots using lightweight large language models (LLMs) with a maximum of 7 billion parameters. The study demonstrates that it is possible to achieve satisfying results…
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.…
In dynamic operational environments, particularly in collaborative robotics, the inevitability of failures necessitates robust and adaptable recovery strategies. Traditional automated recovery strategies, while effective for predefined…
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…
Attack trees are a popular way to represent and evaluate potential security threats on systems or infrastructures. The goal of this work is to provide a framework allowing to express and check whether an attack tree is consistent with the…
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.…
The rapid advancements in autonomous vehicle software present both opportunities and challenges, especially in enhancing road safety. The primary objective of autonomous vehicles is to reduce accident rates through improved safety measures.…
The ability to learn new tasks and quickly adapt to different variations or dimensions is an important attribute in agile robotics. In our previous work, we have explored Behavior Trees and Motion Generators (BTMGs) as a robot arm policy…
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…
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…
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 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…
Modern software systems are increasingly designed to be highly configurable, which increases flexibility but can make programs harder to develop, test, and analyze, e.g., how configuration options are set to reach certain locations, what…
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…
The automatic generation of decision trees based on off-line reasoning on models of a domain is a reasonable compromise between the advantages of using a model-based approach in technical domains and the constraints imposed by embedded…
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…
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…
As reinforcement learning for humanoid robots evolves from single-task to multi-skill paradigms, efficiently expanding new skills while avoiding catastrophic forgetting has become a key challenge in embodied intelligence. Existing…
Behavior trees (BTs) emerged from video game development as a graphical language for modeling intelligent agent behavior. However as initially implemented, behavior trees are static plans. This paper adds to recent literature exploring the…