Related papers: Behavior Trees in Industrial Applications: A Case …
Earthwork operations face increasing demand, while workforce aging creates a growing need for automation. ROS2-TMS for Construction, a Cyber-Physical System framework for construction machinery automation, has been proposed; however, its…
In this letter we show how to improve the performance of backward chained behavior trees (BTs) that use reinforcement learning (RL). BTs represent a hierarchical and modular way of combining control policies into higher level control…
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…
Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain…
Gradient Boosting Decision Trees (GBDTs) have become very successful in recent years, with many awards in machine learning and data mining competitions. There have been several recent studies on how to train GBDTs in the federated learning…
Behavior Engineering (BE) provides a rigorous way to derive a formal specification of a software system from the requirements written in natural language. Its graphical specification language, Behavior Tree (BT), has been used with success…
Security risk management can be applied on well-defined or existing systems; in this case, the objective is to identify existing vulnerabilities, assess the risks and provide for the adequate countermeasures. Security risk management can…
Long-horizon planning in realistic environments requires the ability to reason over sequential tasks in high-dimensional state spaces with complex dynamics. Classical motion planning algorithms, such as rapidly-exploring random trees, are…
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…
Safety-critical infrastructures must operate safely and reliably. Fault tree analysis is a widespread method used to assess risks in these systems: fault trees (FTs) are required - among others - by the Federal Aviation Authority, the…
Reinforcement Learning (RL) is a powerful mathematical framework that allows robots to learn complex skills by trial-and-error. Despite numerous successes in many applications, RL algorithms still require thousands of trials to converge to…
Finite-state models, such as finite-state machines (FSMs), aid software engineering in many ways. They are often used in formal verification and also can serve as visual software models. The latter application is associated with the…
Decision Trees have remained a popular machine learning method for tabular datasets, mainly due to their interpretability. However, they lack the expressiveness needed to handle highly nonlinear or unstructured datasets. Motivated by recent…
For Finite State Machines (FSMs) a rich testing theory has been developed to discover aspects of their behavior and ensure their correct functioning. Although this theory is widely used, e.g., to check conformance of protocol…
The design of complex man-made systems mostly involves a conceptual modeling phase; therefore, it is important to ensure an appropriate analysis method for these models. A key concept for such analysis is the development of a diagramming…
Behavior Trees (BTs) provide a lean set of control flow elements that are easily composable in a modular tree structure. They are well established for modeling the high-level behavior of non-player characters in computer games and recently…
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…
Critical infrastructure systems - for which high reliability and availability are paramount - must operate securely. Attack trees (ATs) are hierarchical diagrams that offer a flexible modelling language used to assess how systems can be…
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…
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…