Related papers: Verification of Behavior Trees with Contingency Mo…
Behavior Trees (BTs) provide a structured and reactive framework for decision-making, commonly used to switch between sub-controllers based on environmental conditions. Reinforcement Learning (RL), on the other hand, can learn near-optimal…
Modern manufacturing demands robotic assembly systems with enhanced flexibility and reliability. However, traditional approaches often rely on programming tailored to each product by experts for fixed settings, which are inherently…
Behavior Trees (BTs) are becoming a popular tool to model the behaviors of autonomous agents in the computer game and the robotics industry. One of the key advantages of BTs lies in their composability, where complex behaviors can be built…
Behavior Trees are a task switching policy representation that can grant reactiveness and fault tolerance. Moreover, because of their structure and modularity, a variety of methods can be used to generate them automatically. In this short…
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…
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…
The use of Large Language Models (LLMs) for generating Behavior Trees (BTs) has recently gained attention in the robotics community, yet remains in its early stages of development. In this paper, we propose a novel framework that leverages…
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 recent years, robots are used in an increasing variety of tasks, especially by small- and medium- sized enterprises. These tasks are usually fast-changing, they have a collaborative scenario and happen in unpredictable environments with…
We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness in dynamic environments. Traditional robots are limited by…
Behavior Trees (BTs) are increasingly becoming a popular control structure in robotics due to their modularity, reactivity, and robustness. In terms of BT generation methods, BT planning shows promise for generating reliable BTs. However,…
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 assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…
Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities when starting from a single robot system controlled by a…
Runtime verification is checking whether a system execution satisfies or violates a given correctness property. A procedure that automatically, and typically on the fly, verifies conformance of the system's behavior to the specified…
In this paper, we propose an approach that combines Vision Language Models (VLMs) and Behavior Trees (BTs) to address failures in robotics. Current robotic systems can handle known failures with pre-existing recovery strategies, but they…
Modern industrial applications require robots to be able to operate in unpredictable environments, and programs to be created with a minimal effort, as there may be frequent changes to the task. In this paper, we show that genetic…
Behavior Trees (BTs) provide designers an intuitive graphical interface to construct long-horizon plans for autonomous systems. To ensure their correctness and safety, rigorous formal models and verification techniques are essential.…
Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks…
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…