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

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 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…

We would like industrial robots to handle unstructured environments with cameras and perception pipelines. In contrast to traditional industrial robots that replay offline-crafted trajectories, online behavior planning is required for these…

In this paper we present a workflow to design and control robot manipulation behavior. To remain independent from particular robot hardware and an explicit area of application, an embedded domain specific language (eDSL) is used to describe…

Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks…

Uncertainty is a major difficulty in endowing robots with autonomy. Robots often fail due to unexpected events. In robot contact tasks are often design to empirically look for force thresholds to define state transitions in a Markov chain…

Proceedings of the Third International Workshop on Domain-Specific Languages and Models for Robotic Systems (DSLRob'12), held at the 2012 International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2012),…

Security engineering, from security requirements engineering to the implementation of cryptographic protocols, is often supported by domain-specific languages (DSLs). Unfortunately, a lack of knowledge about these DSLs, such as which…

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…

As complex autonomous robotic systems become more widespread, the need for transparent and reusable Artificial Intelligence (AI) designs becomes more apparent. In this paper we analyse how the principles behind Behavior Trees (BTs), an…

The importance of mission or safety critical software systems in many application domains of embedded systems is continuously growing, and so is the effort and complexity for reliability and safety analysis. Model driven development is…

Metamodel-based DSL development in language workbenches like Xtext allows language engineers to focus more on metamodels and domain concepts rather than grammar details. However, the grammar generated from metamodels often requires manual…

Domain specific languages (DSLs) allow domain experts to model parts of the system under development in a problem-oriented notation that is well-known in the respective domain. The introduction of a DSL is often accompanied the desire to…

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…

The rapid advancement of Large Language Models (LLMs) has opened new possibilities in Multi-Robot Systems (MRS), enabling enhanced communication, task allocation and planning, and human-robot interaction. Unlike traditional single-robot and…

The recently increased complexity of Machine Learning (ML) methods, led to the necessity to lighten both the research and industry development processes. ML pipelines have become an essential tool for experts of many domains, data…

This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…

This paper explores the role of operating system and high-level languages in the development of software and domain-specific languages (DSLs) for self-reconfigurable robotics. We review some of the current trends in self-reconfigurable…

The Data Distribution Service (DDS) is a widely used communication specification for real-time mission-critical systems that follow the principles of publish-subscribe middleware. DDS has an extensive set of quality of service (QoS)…

The field of multimodal robot navigation in indoor environments has garnered significant attention in recent years. However, as tasks and methods become more advanced, the action decision systems tend to become more complex and operate as…