相关论文: Formalizing Stateful Behavior Trees

Robotic assembly tasks remain an open challenge due to their long horizon nature and complex part relations. Behavior trees (BTs) are increasingly used in robot task planning for their modularity and flexibility, but creating them manually…

We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness in dynamic environments. Traditional robots are limited by…

Over the past decade, neural network (NN)-based controllers have demonstrated remarkable efficacy in a variety of decision-making tasks. However, their black-box nature and the risk of unexpected behaviors pose a challenge to their…

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…

To guarantee that machine learning models yield outputs that are not only accurate, but also robust, recent works propose formally verifying robustness properties of machine learning models. To be applicable to realistic safety-critical…

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.…

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…

In modern industrial collaborative robotic applications, it is desirable to create robot programs automatically, intuitively, and time-efficiently. Moreover, robots need to be controlled by reactive policies to face the unpredictability of…

Interpretable policy representations like Behavior Trees (BTs) and Dynamic Motion Primitives (DMPs) enable robot skill transfer from human demonstrations, but each faces limitations: BTs require expert-crafted low-level actions, while DMPs…

We consider symbolic tree automata (sta) and symbolic tree transducers (stt). We characterize s-recognizable tree languages (which are the tree languages recognizable by sta) in terms of (classical) recognizable tree languages and…

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…

In this letter we show how to improve the performance of backward chained behavior trees (BTs) that use reinforcement learning (RL). BTs represent a hierarchical and modular way of combining control policies into higher level control…

As learned control policies become increasingly common in autonomous systems, there is increasing need to ensure that they are interpretable and can be checked by human stakeholders. Formal specifications have been proposed as ways to…

In reliability engineering, we need to understand system dependencies, cause-effect relations, identify critical components, and analyze how they trigger failures. Three prominent graph models commonly used for these purposes are fault…

This paper addresses the concurrency issues affecting Behavior Trees (BTs), a popular tool to model the behaviors of autonomous agents in the video game and the robotics industry. BT designers can easily build complex behaviors composing…

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…

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…

Executing temporal plans in the real and open world requires adapting to uncertainty both in the environment and in the plan actions. A plan executor must therefore be flexible to dispatch actions based on the actual execution conditions.…

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…