Related papers: Towards Using Behavior Trees in Industrial Automat…
In this paper, we propose Belief Behavior Trees (BBTs), an extension to Behavior Trees (BTs) that allows to automatically create a policy that controls a robot in partially observable environments. We extend the semantic of BTs to account…
Behavior trees (BTs) emerged from video game development as a graphical language for modeling intelligent agent behavior. BTs have several properties which are attractive for modeling medical procedures including human-readability,…
Interpretable policy representations like Behavior Trees (BTs) and Dynamic Motion Primitives (DMPs) enable robot skill transfer from human demonstrations, but each faces limitations: BTs require expert-crafted low-level actions, while DMPs…
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…
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…
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…
In this paper we will give a control theoretic perspective on the research area of behavior trees in robotics. The key idea underlying behavior trees is to make use of modularity, hierarchies and feedback, in order to handle the complexity…
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…
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…
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).…
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…
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…
Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we…
The possibility to create reactive robot programs faster without the need for extensively trained programmers is becoming increasingly important. So far, it has not been explored how various techniques for creating Behavior Tree (BT)…
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…
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…
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 proposes an Interactive Inference Behavior Tree (IIBT) framework that integrates behavior trees (BTs) with active inference under the free energy principle for distributed multi-robot decision-making. The proposed IIBT node…
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…
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…