Related papers: Execution Semantics of Behavior Trees in Robotic A…
Recent work has shown that the input-output behavior of some machine learning systems can be captured symbolically using Boolean expressions or tractable Boolean circuits, which facilitates reasoning about the behavior of these systems.…
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…
Computational psychology has the aim to explain human cognition by computational models of cognitive processes. The cognitive architecture ACT-R is popular to develop such models. Although ACT-R has a well-defined psychological theory and…
We observe that the various formulations of the operational semantics of Constraint Handling Rules proposed over the years fall into a spectrum ranging from the analytical to the pragmatic. While existing analytical formulations facilitate…
Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective…
Identifying and categorizing specific robot tasks, behaviors, and resources is an essential precursor to reproducing and evaluating robotics experiments across laboratories and platforms. Without some means of capturing how one environment,…
When an autonomous robot learns how to execute actions, it is of interest to know if and when the execution policy can be generalised to variations of the learning scenarios. This can inform the robot about the necessity of additional…
Temporal logic can be used to formally specify autonomous agent goals, but synthesizing planners that guarantee goal satisfaction can be computationally prohibitive. This paper shows how to turn goals specified using a subset of finite…
The recent advance in autonomous underwater robotics facilitates autonomous inspection tasks of offshore infrastructure. However, current inspection missions rely on predefined plans created offline, hampering the flexibility and autonomy…
Service robots are increasingly entering the home to provide domestic tasks for residents. However, when working in an open, dynamic, and unstructured home environment, service robots still face challenges such as low intelligence for task…
Purpose of Review: To effectively synthesise and analyse multi-robot behaviour, we require formal task-level models which accurately capture multi-robot execution. In this paper, we review modelling formalisms for multi-robot systems under…
Stack-of-Tasks (SoT) control allows a robot to simultaneously fulfill a number of prioritized goals formulated in terms of (in)equality constraints in error space. Since this approach solves a sequence of Quadratic Programs (QP) at each…
Recently, decision trees (DT) have been used as an explainable representation of controllers (a.k.a. strategies, policies, schedulers). Although they are often very efficient and produce small and understandable controllers for discrete…
Service robots are complex, heterogeneous, software intensive systems built from components. Recent robotics research trends mainly address isolated capabilities on functional level. Non-functional properties, such as responsiveness or…
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…
Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this work we extend our framework based on Behavior Trees for…
Decision trees (DTs) epitomize the ideal of interpretability of machine learning (ML) models. The interpretability of decision trees motivates explainability approaches by so-called intrinsic interpretability, and it is at the core of…
We present the design of a new functional programming language, MLTS, that uses the lambda-tree syntax approach to encoding bindings appearing within data structures. In this approach, bindings never become free nor escape their scope:…
The ability to learn new tasks and quickly adapt to different variations or dimensions is an important attribute in agile robotics. In our previous work, we have explored Behavior Trees and Motion Generators (BTMGs) as a robot arm policy…
In this paper, we study classes of structures and individual structures for which programs implementing functions defined everywhere are equivalent to finite tree-programs. The programs under consideration may have cycles and at most…