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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…
Adaptive scheduling is crucial for ensuring the reliability and safety of time-triggered systems (TTS) in dynamic operational environments. Scheduling frameworks face significant challenges, including message collisions, locked loops from…
We propose a framework for verifiable and compositional reinforcement learning (RL) in which a collection of RL subsystems, each of which learns to accomplish a separate subtask, are composed to achieve an overall task. The framework…
The manufacturing industry is undergoing a transformative shift, driven by cutting-edge technologies like 5G, AI, and cloud computing. Despite these advancements, effective system control, which is crucial for optimizing production…
Individual machines in flexible production lines explicitly expose capabilities at their interfaces by means of parametric skills. Given such a set of configurable machines, a line integrator is faced with the problem of finding and tuning…
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…
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree…
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…
Engineering educational curriculum and standards cover many material and manufacturing options. However, engineers and designers are often unfamiliar with certain composite materials or manufacturing techniques. Large language models (LLMs)…
Composition is an important feature of a specification language, as it enables the design of a complex system in terms of a product of its parts. Decomposition is equally important in order to reason about structural properties of a system.…
It is difficult to create robust, reusable, and reactive behaviors for robots that can be easily extended and combined. Frameworks such as Behavior Trees are flexible but difficult to characterize, especially when designing reactions and…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…
Contact-rich robotic skills remain challenging for industrial robots due to tight geometric tolerances, frictional variability, and uncertain contact dynamics, particularly when using position-controlled manipulators. This paper presents a…
Cyber-Physical Production Systems (CPPS) are long-living and mechatronic systems, which include mechanics, electrics/electronics and software. The interdisciplinary nature combined with challenges and trends in the context of Industry 4.0…
In this work, we propose an LLM-based BT generation framework to leverage the strengths of both for sequential manipulation planning. To enable human-robot collaborative task planning and enhance intuitive robot programming by nonexperts,…
A formal description of a Cyber-Physical system should include a rigorous specification of the computational and physical components involved, as well as their interaction. Such a description, thus, lends itself to a compositional model…
Skills have become a practical packaging mechanism for agent instructions, workflows, scripts, and reference materials. In enterprise settings, however, a skill often needs to express more than task guidance: goals, input boundaries,…
Active replication following the state machine replication (SMR) approach is a way to make existing systems and services more reliable and fault-tolerant. The additional communication overhead has a negative impact on the system's…
Cyber-Physical Systems (CPS) are systems composed by a physical component that is controlled or monitored by a cyber-component, a computer-based algorithm. Advances in CPS technologies and science are enabling capability, adaptability,…
IEC 61131-3 Structured Text (ST) is a widely used programming language for programmable logic controllers (PLCs) in automation systems. However, generating ST code with LLMs poses unique challenges due to limited data in public training…