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The manual modeling of complex systems is a daunting task; and although a plethora of methods exist that mitigate this issue, the problem remains very difficult. Recent advances in generative AI have allowed the creation of general-purpose…

We introduce a new software toolbox for agent-based simulation. Facilitating rapid prototyping by offering a user-friendly Python API, its core rests on an efficient C++ implementation to support simulation of large-scale multi-agent…

To assist game developers in crafting game NPCs, we present EvolvingBehavior, a novel tool for genetic programming to evolve behavior trees in Unreal Engine 4. In an initial evaluation, we compare evolved behavior to hand-crafted trees…

When developing general purpose robots, the overarching software architecture can greatly affect the ease of accomplishing various tasks. Initial efforts to create unified robot systems in the 1990s led to hybrid architectures, emphasizing…

How can we enable novice users to create effective task plans for collaborative robots? Must there be a tradeoff between generalizability and ease of use? To answer these questions, we conducted a user study with the CoSTAR system, which…

The design of systems that can change their behaviour to account for scenarios that were not foreseen at design time remains an open challenge. In this paper we propose an approach for adaptation of mobile robot missions that is not…

We consider the problem of people search by a mobile social robot in case of a situation that cannot be solved by the robot alone. Examples are physically opening a closed door or operating an elevator. Based on the Behavior Tree framework,…

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…

This paper seeks to combine differential game theory with the actor-critic-identifier architecture to determine forward-in-time, approximate optimal controllers for formation tracking in multi-agent systems, where the agents have uncertain…

Due to its ability to generate millions of particles, massively detailed scenes and confusing artificial illumination with reality, the version 5 of Unreal Engine promises unprecedented industrial applications. The paradigms and aims of…

Deploying interactive systems in-the-wild requires adaptability to situations not encountered in lab environments. Our work details our experience about the impact of architecture choice on behavior reusability and reactivity while…

The evacuation of complex buildings is a challenge under any circumstances. Fire drills are a way of training and validating evacuation plans. However, sometimes these plans are not taken seriously by their participants. It is also…

Swarm robotic systems are currently being used to address many real-world problems. One interesting application of swarm robotics is the self-organized formation of structures and shapes. Some of the key challenges in the swarm robotic…

In this paper, we propose Belief Behavior Trees (BBTs), an extension to Behavior Trees (BTs) that allows to automatically create a policy that controls a robot in partially observable environments. We extend the semantic of BTs to account…

The concept of a Human-AI team has gained increasing attention in recent years. For effective collaboration between humans and AI teammates, proactivity is crucial for close coordination and effective communication. However, the design of…

This paper describes an application of Bayesian programming to the control of an autonomous avatar in a multiplayer role-playing game (the example is based on World of Warcraft). We model a particular task, which consists of choosing what…

A task-sequencing simulator in robotics manipulation to integrate simulation-for-learning and simulation-for-execution is introduced. Unlike existing machine-learning simulation where a non-decomposed simulation is used to simulate a…

In many scientific domains, researchers are turning to large-scale behavioral simulations to better understand important real-world phenomena. While there has been a great deal of work on simulation tools from the high-performance computing…

Game-theoretic interactions with AI agents could differ from traditional human-human interactions in various ways. One such difference is that it may be possible to simulate an AI agent (for example because its source code is known), which…

Traditional AI reasoning techniques have been used successfully in many domains, including logistics, scheduling and game playing. This paper is part of a project aimed at investigating how such techniques can be extended to coordinate…