相关论文: Improving the Modularity of AUV Control Systems us…

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…

In this paper we provide a practical demonstration of how the modularity in a Behavior Tree (BT) decreases the effort in programming a robot task when compared to a Finite State Machine (FSM). In recent years the way to represent a task…

Autonomous robots combine a variety of skills to form increasingly complex behaviors called missions. While the skills are often programmed at a relatively low level of abstraction, their coordination is architecturally separated and often…

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,…

Behavior Trees (BTs) have become a popular framework for designing controllers of autonomous agents in the computer game and in the robotics industry. One of the key advantages of BTs lies in their modularity, where independent modules can…

Modern network defense can benefit from the use of autonomous systems, offloading tedious and time-consuming work to agents with standard and learning-enabled components. These agents, operating on critical network infrastructure, need to…

Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…

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…

In this paper, we show how a planning algorithm can be used to automatically create and update a Behavior Tree (BT), controlling a robot in a dynamic environment. The planning part of the algorithm is based on the idea of back chaining.…

In industrial applications Finite State Machines (FSMs) are often used to implement decision making policies for autonomous systems. In recent years, the use of Behavior Trees (BT) as an alternative policy representation has gained…

Expansion of today's underwater scenarios and missions necessitates the requestion for robust decision making of the Autonomous Underwater Vehicle (AUV); hence, design an efficient decision making framework is essential for maximizing the…

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) emerged from video game development as a graphical language for modeling intelligent agent behavior. BTs have several properties which are attractive for modeling medical procedures including human-readability,…

Behavior Trees (BTs) are high level controllers that have found use in a wide range of robotics tasks. As they grow in popularity and usage, it is crucial to ensure that the appropriate tools and methods are available for ensuring they work…

Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities when starting from a single robot system controlled by a…

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…

This paper presents a two-layer control framework for Autonomous Underwater Vehicles (AUVs) designed to handle uncertain nonlinear dynamics, including the mass matrix, previously assumed known. Unlike prior studies, this approach makes the…

Autonomous underwater vehicles (AUVs) are increasingly used in marine research, military applications, and undersea exploration. However, their operational range is significantly affected by battery performance. In this paper, a framework…

Robust and persistent localisation is essential for ensuring the safe operation of autonomous vehicles. When operating in large and diverse urban driving environments, autonomous vehicles are frequently exposed to situations that violate…

Autonomous Underwater Vehicle-Manipulator systems (AUVMS) is a new tool for ocean exploration, the AUVMS path planning problem is addressed in this paper. AUVMS is a high dimension system with a large difference in inertia distribution,…