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Behavior Trees constitute a widespread AI tool which has been successfully spun out in robotics. Their advantages include simplicity, modularity, and reusability of code. However, Behavior Trees remain a high-level decision making engine;…

As complex autonomous robotic systems become more widespread, the need for transparent and reusable Artificial Intelligence (AI) designs becomes more apparent. In this paper we analyse how the principles behind Behavior Trees (BTs), an…

Autonomous robots combine a variety of skills to form increasingly complex behaviors called missions. While the skills are often programmed at a relatively low level of abstraction, their coordination is architecturally separated and often…

The increasing transition of human-robot interaction (HRI) context from controlled settings to dynamic, real-world public environments calls for enhanced adaptability in robotic systems. This can go beyond algorithmic navigation or…

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…

Mobile robots are increasingly being deployed in public spaces such as shopping malls, airports, and urban sidewalks. Most of these robots are designed with human-aware motion planning capabilities but are not designed to communicate with…

Behavior Trees (BTs) got the robotics society attention not least thanks to their modularity and reusability. The subtrees of BTs could be treated as separate behaviors and therefore reused. We address the following research question: do we…

Domestic and service robots have the potential to transform industries such as health care and small-scale manufacturing, as well as the homes in which we live. However, due to the overwhelming variety of tasks these robots will be expected…

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…

Urban HCI investigates how digital technologies shape human behaviour within the social, spatial, temporal dynamics of public space. Meanwhile, robotic furniture research demonstrates how the purposeful animation of mundane utilitarian…

There is a growing interest in Behavior Trees (BTs) as a tool to describe and implement robot behaviors. BTs were devised in the video game industry and their adoption in robotics resulted in the development of ad-hoc libraries to design…

Robots are increasingly being deployed in public spaces. However, the general population rarely has the opportunity to nominate what they would prefer or expect a robot to do in these contexts. Since most people have little or no experience…

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…

Social robots often rely on visual perception to understand their users and the environment. Recent advancements in data-driven approaches for computer vision have demonstrated great potentials for applying deep-learning models to enhance a…

Integrating robots into populated environments is a complex challenge that requires an understanding of human social dynamics. In this work, we propose to model social motion forecasting in a shared human-robot representation space, which…

Many human social phenomena, such as cooperation, the growth of settlements, traffic dynamics and pedestrian movement, appear to be accessible to mathematical descriptions that invoke self-organization. Here we develop a model of pedestrian…

The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…

The aim of the current research is to analyse and discover, in a real context, behaviours, reactions and modes of interaction of social actors (people) with the humanoid robot Pepper. Indeed, we wanted to observe in a real, highly…

Behavior Trees are a task switching policy representation that can grant reactiveness and fault tolerance. Moreover, because of their structure and modularity, a variety of methods can be used to generate them automatically. In this short…

In this article, an enactive architecture is described that allows a humanoid robot to learn to compose simple actions into turn-taking behaviors while playing interaction games with a human partner. The robot's action choices are…