Related papers: Behavior Trees in Industrial Applications: A Case …
We propose a hybrid combination of active inference and behavior trees (BTs) for reactive action planning and execution in dynamic environments, showing how robotic tasks can be formulated as a free-energy minimization problem. The proposed…
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…
Modern industrial applications require robots to be able to operate in unpredictable environments, and programs to be created with a minimal effort, as there may be frequent changes to the task. In this paper, we show that genetic…
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…
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…
We propose a design for a functional programming language for autonomous agents, built off the ideas and motivations of Behavior Trees (BTs). BTs are a popular model for designing agents behavior in robotics and AI. However, as their growth…
Behavior Trees (BTs) are increasingly becoming a popular control structure in robotics due to their modularity, reactivity, and robustness. In terms of BT generation methods, BT planning shows promise for generating reliable BTs. However,…
This paper presents an innovative exploration of the application potential of large language models (LLM) in addressing the challenging task of automatically generating behavior trees (BTs) for complex tasks. The conventional manual BT…
Cyber-physical systems, like Smart Buildings and power plants, have to meet high standards, both in terms of reliability and availability. Such metrics are typically evaluated using Fault trees (FTs) and do not consider maintenance…
Behavior trees (BTs) are a popular method for modeling NPC and enemy AI behavior and have been widely used in commercial games. In this work, rather than use BTs to model game playing agents, we use them for modeling game design agents,…
Finite-state models are widely used in software engineering, especially in control systems development. Commonly, in control applications such models are developed manually, hence, keeping them up-to-date requires extra effort. To simplify…
Behavioural models are a valuable tool for software verification, testing, monitoring, publishing etc. However, they are rarely provided by the software developers and have to be extracted either from the source or from the compiled code.…
Imitation learning frameworks for robotic manipulation have drawn attention in the recent development of language model grounded robotics. However, the success of the frameworks largely depends on the coverage of the demonstration cases:…
Behavior Trees (BTs) provide designers an intuitive graphical interface to construct long-horizon plans for autonomous systems. To ensure their correctness and safety, rigorous formal models and verification techniques are essential.…
Robotic systems for manipulation tasks are increasingly expected to be easy to configure for new tasks or unpredictable environments, while keeping a transparent policy that is readable and verifiable by humans. We propose the method…
Robot missions typically involve a number of desired objectives, such as avoiding collisions, staying connected to other robots, gathering information using sensors and returning to the charging station before the battery runs out. Some of…
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…
With the advancements in modern intelligent technologies, mobile robots equipped with manipulators are increasingly operating in unstructured environments. These robots can plan sequences of actions for long-horizon tasks based on perceived…
While the benefits of reconfigurable manufacturing systems (RMS) are well-known, there are still challenges to their development, including, among others, a modular software architecture that enables rapid reconfiguration without much…
Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks…