Related papers: Execution Semantics of Behavior Trees in Robotic A…

Developing applications considering reactiveness, scalability and re-usability has always been at the center of attention of robotic researchers. Behavior-based architectures have been proposed as a programming paradigm to develop robust…

Verbalization of robot experience, i.e., summarization of and question answering about a robot's past, is a crucial ability for improving human-robot interaction. Previous works applied rule-based systems or fine-tuned deep models to…

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…

Model execution allows us to prototype and analyse software engineering models by stepping through their possible behaviours, using techniques like animation and simulation. On the other hand, deductive verification allows us to construct…

We describe here a simple application of rational trees to the implementation of an interpreter for a procedural language written in a logic programming language. This is possible in languages designed to support rational trees (such as…

Symbolic execution is a powerful program analysis technique that allows for the systematic exploration of all program paths. Path explosion, where the number of states to track becomes unwieldy, is one of the biggest challenges hindering…

We identify and demonstrate a weakness of Petri Nets (PN) in specifying composite behavior of reactive systems. Specifically, we show how, when specifying multiple requirements in one PN model, modelers are obliged to specify mechanisms for…

How can we enable novice users to create effective task plans for collaborative robots? Must there be a tradeoff between generalizability and ease of use? To answer these questions, we conducted a user study with the CoSTAR system, which…

As learned control policies become increasingly common in autonomous systems, there is increasing need to ensure that they are interpretable and can be checked by human stakeholders. Formal specifications have been proposed as ways to…

The recent usage of technical systems in human-centric environments leads to the question, how to teach technical systems, e.g., robots, to understand, learn, and perform tasks desired by the human. Therefore, an accurate representation of…

While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…

This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…

Interaction languages such as MSC are often associated with formal semantics by means of translations into distinct behavioral formalisms such as automatas or Petri nets. In contrast to translational approaches we propose an operational…

In this paper we show how the combination of Behaviour Tree and Utility Based AI architecture can be used to design more realistic bots for Military Simulators. In this work, we have designed a mathematical model of a simulator system which…

Logic languages based on the theory of rational, possibly infinite, trees have much appeal in that rational trees allow for faster unification (due to the safe omission of the occurs-check) and increased expressivity (cyclic terms can…

IoT is changing the way Internet is used due to the availability of a large amount of data timely collected from every-day life objects. Designing applications in this new scenario poses new challenges. This extended abstract discusses them…

Vehicles in public traffic that are equipped with Automated Driving Systems are subject to a number of expectations: Among other aspects, their behavior should be safe, conforming to the rules of the road and provide mobility to their…

Behavior Trees, which originated in video games as a method for controlling NPCs but have since gained traction within the robotics community, are a framework for describing the execution of a task. BehaVerify is a tool that creates a nuXmv…

Understanding human actions is a crucial problem for service robots. However, the general trend in Action Recognition is developing and testing these systems on structured datasets. That's why this work presents a practical Skeleton-based…

Robotic systems often face execution failures due to unexpected obstacles, sensor errors, or environmental changes. Traditional failure recovery methods rely on predefined strategies or human intervention, making them less adaptable. This…