相关论文: Improving the Parallel Execution of Behavior Trees

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…

Various networks are broadly and deeply applied in real-life applications. Reliability is the most important index for measuring the performance of all network types. Among the various algorithms, only implicit enumeration algorithms, such…

Temporal logic can be used to formally specify autonomous agent goals, but synthesizing planners that guarantee goal satisfaction can be computationally prohibitive. This paper shows how to turn goals specified using a subset of finite…

Dynamic techniques are a scalable and effective way to analyze concurrent programs. Instead of analyzing all behaviors of a program, these techniques detect errors by focusing on a single program execution. Often a crucial step in these…

Agentic systems solve complex tasks by coordinating multiple agents that iteratively reason, invoke tools, and exchange intermediate results. To improve robustness and solution quality, recent approaches deploy multiple agent teams running…

In this paper, we present a toolchain to design, execute, and verify robot behaviors. The toolchain follows the guidelines defined by the EU H2020 project RobMoSys and encodes the robot deliberation as a Behavior Tree (BT), a directed tree…

Earthwork operations face increasing demand, while workforce aging creates a growing need for automation. ROS2-TMS for Construction, a Cyber-Physical System framework for construction machinery automation, has been proposed; however, its…

In previous work we developed a framework of computational models for the concurrent execution of functions on different levels of abstraction. It shows that the traditional sequential execution of function is just a possible implementation…

Decomposing complex tasks into a sequence of simpler subtasks can improve learning efficiency for an autonomous agent. Reinforcement learning (RL) can be used to optimize agent policies to complete subtasks, but requires well-defined…

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…

Parallel parameterized complexity theory studies how fixed-parameter tractable (fpt) problems can be solved in parallel. Previous theoretical work focused on parallel algorithms that are very fast in principle, but did not take into account…

Autotuning is an established technique for optimizing the performance of parallel applications. However, programmers must prepare applications for autotuning, which is tedious and error prone coding work. We demonstrate how applications…

Design of an efficient thread-safe concurrent data structure is a balancing act between its implementation complexity and performance. Lock-based concurrent data structures, which are relatively easy to derive from their sequential…

We design and study a Contextual Memory Tree (CMT), a learning memory controller that inserts new memories into an experience store of unbounded size. It is designed to efficiently query for memories from that store, supporting logarithmic…

We introduce the Control Toolbox (CT), an open-source C++ library for efficient modeling, control, estimation, trajectory optimization and Model Predictive Control. The CT is applicable to a broad class of dynamic systems but features…

We present a framework that takes a concurrent program composed of unsynchronized processes, along with a temporal specification of their global concurrent behaviour, and automatically generates a concurrent program with synchronization…

This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…

Concurrent data structures serve as fundamental building blocks for concurrent computing. Many concurrent counterparts have been designed for basic sequential mechanisms; however, one notable omission is a concurrent tree that supports…

Test-Time Scaling (TTS) enhances the reasoning capabilities of large language models by allocating additional inference compute to explore the solution space. However, existing parallel TTS methods typically keep branches isolated during…

In this paper we show how the combination of Behaviour Tree and Utility Based AI architecture can be used to design more realistic bots for Military Simulators. In this work, we have designed a mathematical model of a simulator system which…