Related papers: Extending Behavior Trees for Robotic Missions with…
External or internal domain-specific languages (DSLs) or (fluent) APIs? Whoever you are -- a developer or a user of a DSL -- you usually have to choose your side; you should not! What about metamorphic DSLs that change their shape according…
Control and communication are often tightly coupled in motion planning of networked mobile robots, due to the fact that robotic motions will affect the overall communication quality, and the quality of service (QoS) of the communication…
Many manipulation tasks pose a challenge since they depend on non-visual environmental information that can only be determined after sustained physical interaction has already begun. This is particularly relevant for effort-sensitive,…
In modern industrial collaborative robotic applications, it is desirable to create robot programs automatically, intuitively, and time-efficiently. Moreover, robots need to be controlled by reactive policies to face the unpredictability of…
Natural language instructions are often abstract and complex, requiring robots to execute multiple subtasks even for seemingly simple queries. For example, when a user asks a robot to prepare avocado toast, the task involves several…
Evolutionary Robotics allows robots with limited sensors and processing to tackle complex tasks by means of sensory-motor coordination. In this paper we show the first application of the Behaviour Tree framework to a real robotic platform…
Behavior Trees (BTs) got the robotics society attention not least thanks to their modularity and reusability. The subtrees of BTs could be treated as separate behaviors and therefore reused. We address the following research question: do we…
The Industry 4.0 paradigm manifests the shift towards mass customization and cyber-physical production systems (CPPS) and sets new requirements for industrial automation software in terms of modularity, flexibility, and short development…
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,…
Proceedings of the Second International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob'11), held in conjunction with the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011),…
Empirical software engineering research often depends on datasets of code repository artifacts, where sampling strategies are employed to enable large-scale analyses. The design and evaluation of these strategies are critical, as they…
Machine learning (ML) provides us with numerous opportunities, allowing ML systems to adapt to new situations and contexts. At the same time, this adaptability raises uncertainties concerning the run-time product quality or dependability,…
This paper presents a novel approach to generating behavior trees for robots using lightweight large language models (LLMs) with a maximum of 7 billion parameters. The study demonstrates that it is possible to achieve satisfying results…
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…
Full integration of robots into real-life applications necessitates their ability to interpret and execute natural language directives from untrained users. Given the inherent variability in human language, equivalent directives may be…
Today's software systems are highly distributed and interconnected, and they increasingly rely on communication to achieve their goals; due to their societal importance, security and trustworthiness are crucial aspects for the correctness…
Large language models (LLMs) perform strongly on general-purpose code generation, yet their applicability to enterprise domain-specific languages (DSLs) remains underexplored, especially for repository-scale change generation spanning…
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…
This paper presents an innovative exploration of the application potential of large language models (LLM) in addressing the challenging task of automatically generating behavior trees (BTs) for complex tasks. The conventional manual BT…
Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding…