相关论文: Handling Concurrency in Behavior Trees

Behavior Engineering (BE) provides a rigorous way to derive a formal specification of a software system from the requirements written in natural language. Its graphical specification language, Behavior Tree (BT), has been used with success…

Stack-of-Tasks (SoT) control allows a robot to simultaneously fulfill a number of prioritized goals formulated in terms of (in)equality constraints in error space. Since this approach solves a sequence of Quadratic Programs (QP) at each…

Robots executing tasks following human instructions in domestic or industrial environments essentially require both adaptability and reliability. Behavior Tree (BT) emerges as an appropriate control architecture for these scenarios due to…

With the rising demand for flexible manufacturing, robots are increasingly expected to operate in dynamic environments where local -- such as slight offsets or size differences in workpieces -- are common. We propose to address the problem…

Imitating successful behavior is a natural and frequently applied approach to trust in when facing scenarios for which we have little or no experience upon which we can base our decision. In this paper, we consider such behavior in atomic…

Bayesian networks (BNs) are a widely used graphical model in machine learning for representing knowledge with uncertainty. The mainstream BN structure learning methods require performing a large number of conditional independence (CI)…

Rust is a popular programming language in building various low-level software in recent years. It aims to provide safe concurrency when implementing multi-threaded software through a suite of compiler checking rules. Unfortunately, there is…

Many real-world experimental design problems (a) evaluate multiple experimental conditions in parallel and (b) replicate each condition multiple times due to large and heteroscedastic observation noise. Given a fixed total budget, this…

In this work, we develop the Batch Belief Trees (BBT) algorithm for motion planning under motion and sensing uncertainties. The algorithm interleaves between batch sampling, building a graph of nominal trajectories in the state space, and…

We propose the use of controlled perturbations to address the challenging question of optimal active-set prediction for interior point methods. Namely, in the context of linear programming, we consider perturbing the inequality…

A memory consistency model specifies the allowed behaviors of shared memory concurrent programs. At the language level, these models are known to have a non-trivial impact on the safety of program optimizations, limiting the ability to…

We propose an integrated behavior and motion planning framework for the lane-merging problem. The behavior planner combines search-based planning with game theory to model vehicle interactions and plan multi-vehicle trajectories. Inspired…

The concurrency features of the Go language have proven versatile in the development of a number of concurrency systems. However, correctness methods to address challenges in Go concurrency debugging have not received much attention. In…

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…

We study the problem of determining the emergent behaviors that are possible given a functionally heterogeneous swarm of robots with limited capabilities. Prior work has considered behavior search for homogeneous swarms and proposed the use…

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…

Coordination recognition and subtle pattern prediction of future trajectories play a significant role when modeling interactive behaviors of multiple agents. Due to the essential property of uncertainty in the future evolution,…

The design and implementation of efficient concurrent data structures have seen significant attention. However, most of this work has focused on concurrent data structures providing good \emph{worst-case} guarantees. In real workloads,…

Progress in the behavioral analysis of software product lines at the family level benefits from further development of the underlying semantical theory. Here, we propose a behavioral equivalence for feature transition systems (FTS)…

Multinomial processing tree (MPT) models are tools for disentangling the contributions of latent cognitive processes in a given experimental paradigm. The present note analyzes MPT models subject to order constraints on subsets of its…