Related papers: Behavior Trees vs Executable Ontologies: a Compara…
In recent years, the model of computation known as Behavior Trees (BT), first developed in the video game industry, has become more popular in the robotics community for defining discrete behavior switching. BTs are threatening to supplant…
Domestic and service robots have the potential to transform industries such as health care and small-scale manufacturing, as well as the homes in which we live. However, due to the overwhelming variety of tasks these robots will be expected…
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…
Behavior Trees (BTs) provide a lean set of control flow elements that are easily composable in a modular tree structure. They are well established for modeling the high-level behavior of non-player characters in computer games and recently…
Behavior trees represent a hierarchical and modular way of combining several low-level control policies into a high-level task-switching policy. Hybrid dynamical systems can also be seen in terms of task switching between different…
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…
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…
Designers of autonomous agents, whether in physical or virtual environments, need to express nondeterminisim, failure, and parallelism in behaviors, as well as accounting for synchronous coordination between agents. Behavior Trees are a…
Robots need task planning to sequence and execute actions toward achieving their goals. On the other hand, Behavior Trees provide a mathematical model for specifying plan execution in an intrinsically composable, reactive, and robust way.…
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…
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…
In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived from one root node…
Learning robot control policies from demonstrations is a powerful paradigm, yet real-world data is often suboptimal, noisy, or otherwise imperfect, posing significant challenges for imitation and reinforcement learning. In this work, we…
Personal service robots are increasingly used in domestic settings to assist older adults and people requiring support. Effective operation involves not only physical interaction but also the ability to interpret dynamic environments,…
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…
Interactive task planning with large language models (LLMs) enables robots to generate high-level action plans from natural language instructions. However, in long-horizon tasks, such approaches often require many questions, increasing user…
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,…
Mass customization and shorter manufacturing cycles are becoming more important among small and medium-sized companies. However, classical industrial robots struggle to cope with product variation and dynamic environments. In this paper, we…
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.…
We propose an approach based on Answer Set Programming for reasoning about actions with domain descriptions including ontological knowledge, expressed in the lightweight description logic EL^\bot. We consider a temporal action theory, which…