相关论文: A formal implementation of Behavior Trees to act i…

The possibility to create reactive robot programs faster without the need for extensively trained programmers is becoming increasingly important. So far, it has not been explored how various techniques for creating Behavior Tree (BT)…

In this paper we review the actor-based language, Timed Rebeca, with a focus on its formal semantics and formal verification techniques. Timed Rebeca can be used to model systems consisting of encapsulated components which communicate by…

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…

Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain…

Behavior Trees, which originated in video games as a method for controlling NPCs but have since gained traction within the robotics community, are a framework for describing the execution of a task. BehaVerify is a tool that creates a nuXmv…

Learning robot control policies from demonstrations is a powerful paradigm, yet real-world data is often suboptimal, noisy, or otherwise imperfect, posing significant challenges for imitation and reinforcement learning. In this work, we…

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…

Threat detection systems rely on rule-based logic to identify adversarial behaviors, yet the conformance of these rules to high-level threat models is rarely verified formally. We present a formal verification framework that models both…

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…

The use of Large Language Models (LLMs) for generating Behavior Trees (BTs) has recently gained attention in the robotics community, yet remains in its early stages of development. In this paper, we propose a novel framework that leverages…

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…

This paper presents a framework to apply property-based testing (PBT) on top of temporal formal models. The aim of this work is to help software engineers to understand temporal models that are presented formally and to make use of the…

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…

Behavior Trees (BTs) are increasingly becoming a popular control structure in robotics due to their modularity, reactivity, and robustness. In terms of BT generation methods, BT planning shows promise for generating reliable BTs. However,…

This paper presents an innovative exploration of the application potential of large language models (LLM) in addressing the challenging task of automatically generating behavior trees (BTs) for complex tasks. The conventional manual BT…

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…

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…

In this paper, a novel process has been developed to realize high-level complex cognitive behaviors into reactive agents, efficiently. This method paves the way for deducting high-level reactive behaviors from low-level perceptive…

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…

The Industry 4.0 paradigm manifests the shift towards mass customization and cyber-physical production systems (CPPS) and sets new requirements for industrial automation software in terms of modularity, flexibility, and short development…