相关论文: Extending Behavior Trees for Robotic Missions with…

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

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…

Service robots act in open-ended, natural environments. Therefore, due to combinatorial explosion of potential situations, it is not possible to foresee all eventualities in advance during robot design. In addition, due to limited resources…

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…

This work-in-progress paper presents our work with a domain specific language (DSL) for tackling the issue of programming robots for small-sized batch production. We observe that as the complexity of assembly increases so does the…

Cyber-physical production systems increasingly involve collaborative robotic missions, requiring more demand for robust and safe missions. Industries rely on risk assessments to identify potential failures and implement measures to mitigate…

There is currently a large amount of robotics software using the component-oriented programming paradigm. However, the rapid growth in number and complexity of components may compromise the scalability and the whole lifecycle of robotics…

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…

Behavior Trees constitute a widespread AI tool which has been successfully spun out in robotics. Their advantages include simplicity, modularity, and reusability of code. However, Behavior Trees remain a high-level decision making engine;…

Robots need task planning to sequence and execute actions toward achieving their goals. On the other hand, Behavior Trees provide a mathematical model for specifying plan execution in an intrinsically composable, reactive, and robust way.…

There is a growing interest in Behavior Trees (BTs) as a tool to describe and implement robot behaviors. BTs were devised in the video game industry and their adoption in robotics resulted in the development of ad-hoc libraries to design…

Behavior Trees (BTs) have found a widespread adoption in robotics due to appealing features, their ease of use as a conceptual model of control policies and the availability of software tooling for BT-based design of control software.…

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…

Behavior Trees (BTs) were invented as a tool to enable modular AI in computer games, but have received an increasing amount of attention in the robotics community in the last decade. With rising demands on agent AI complexity, game…

It is difficult to create robust, reusable, and reactive behaviors for robots that can be easily extended and combined. Frameworks such as Behavior Trees are flexible but difficult to characterize, especially when designing reactions and…

Model-driven software development is a promising way to cope with the complexity of system integration in advanced robotics, as it already demonstrated its benefits in domains with comparably challenging system integration requirements.…

In this study, we propose task planning framework for multiple robots that builds on a behavior tree (BT). BTs communicate with a data distribution service (DDS) to send and receive data. Since the standard BT derived from one root node…

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,…

Nowadays, the behavior tree is gaining popularity as a representation for robot tasks due to its modularity and reusability. Designing behavior-tree tasks manually is time-consuming for robot end-users, thus there is a need for…

Robot missions typically involve a number of desired objectives, such as avoiding collisions, staying connected to other robots, gathering information using sensors and returning to the charging station before the battery runs out. Some of…