Related papers: Extending Behavior Trees for Robotic Missions with…
The use of Domain-Specific Languages (DSLs) is a promising field for the development of tools tailored to specific problem spaces, effectively diminishing the complexity of hand-made software. With the goal of making models as precise,…
A Behavior Tree (BT) is a way to structure the switching between different tasks in an autonomous agent, such as a robot or a virtual entity in a computer game. BTs are a very efficient way of creating complex systems that are both modular…
We propose a design for a functional programming language for autonomous agents, built off the ideas and motivations of Behavior Trees (BTs). BTs are a popular model for designing agents behavior in robotics and AI. However, as their growth…
Behavior trees (BTs) are an optimally modular framework to assemble hierarchical hybrid control policies from a set of low-level control policies using a tree structure. Many robotic tasks are naturally decomposed into a hierarchy of…
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…
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…
Quality requirements typically differ among software features, e.g., due to different usage contexts of the features, different impacts of related quality deficiencies onto overall user satisfaction, or long-term plans of the developing…
Objective: Effective collaboration between machines and clinicians requires flexible data structures to represent medical processes and clinical practice guidelines. Such a data structure could enable effective turn-taking between human and…
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…
Robots are increasingly deployed across diverse domains and designed for multi-purpose operation. As robotic systems grow in complexity and operate in dynamic environments, the need for structured, expressive, and scalable…
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…
Reuse is a key technique for a more efficient development and ensures the quality of the results. In object technology explicit encapsulation, interfaces, and inheritance are well known principles for independent development that enable…
The quality of software products tends to correlate with the quality of the abstractions adopted early in the design process. Acknowledging this tendency has led to the development of various tools and methodologies for modeling systems…
Mobile and general-purpose robots increasingly support our everyday life, requiring dependable robotics control software. Creating such software mainly amounts to implementing their complex behaviors known as missions. Recognizing the need,…
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…
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…
This paper is an extension to an early presented programming language, called a domain specific language. This paper extends the proposed concept with new sensors and behaviours to address real-life situations. The functionality was tested…
Multimodal systems, which process multiple input types such as text, audio, and images, are becoming increasingly prevalent in software systems, enabled by the huge advancements in Machine Learning. This triggers the need to easily define…
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…
Background:Technical systems are growing in complexity with more components and functions across various disciplines. Model-Driven Engineering (MDE) helps manage this complexity by using models as key artifacts. Domain-Specific Languages…