Related papers: An Extended Convergence Result for Behaviour Tree …
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…
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…
In modern industrial collaborative robotic applications, it is desirable to create robot programs automatically, intuitively, and time-efficiently. Moreover, robots need to be controlled by reactive policies to face the unpredictability of…
Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this work we extend our framework based on Behavior Trees for…
Behavior Trees (BTs) offer a powerful paradigm for designing modular and reactive robot controllers. BT planning, an emerging field, provides theoretical guarantees for the automated generation of reliable BTs. However, BT planning…
Heterogeneous Robot Teams can provide a wide range of capabilities and therefore significant benefits when handling a mission. However, they also require new approaches to capability and mission definition that are not only suitable to…
Fast changing tasks in unpredictable, collaborative environments are typical for medium-small companies, where robotised applications are increasing. Thus, robot programs should be generated in short time with small effort, and the robot…
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…
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…
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…
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…
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…
Behavior trees represent a modular way to create an overall controller from a set of sub-controllers solving different sub-problems. These sub-controllers can be created in different ways, such as classical model based control or…
In this paper, we show how behaviour trees (BTs) can be used to design modular, versatile, and robust control architectures for mission-critical systems. In particular, we show this in the context of autonomous underwater vehicles (AUVs).…
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…
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 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…
In industrial applications Finite State Machines (FSMs) are often used to implement decision making policies for autonomous systems. In recent years, the use of Behavior Trees (BT) as an alternative policy representation has gained…
With the rising demand for flexible manufacturing, robots are increasingly expected to operate in dynamic environments where local -- such as slight offsets or size differences in workpieces -- are common. We propose to address the problem…
In this paper we provide a formal framework for comparing the expressive power of Behavior Trees (BTs) to other action selection architectures. Taking inspiration from the analogous comparisons of structural programming methodologies, we…