相关论文: Coordinated Control of Multiple Construction Machi…

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…

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…

Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective…

Accurate task planning is critical for controlling autonomous systems, such as robots, drones, and self-driving vehicles. Behavior Trees (BTs) are considered one of the most prominent control-policy-defining frameworks in task planning, due…

In this work, we propose an LLM-based BT generation framework to leverage the strengths of both for sequential manipulation planning. To enable human-robot collaborative task planning and enhance intuitive robot programming by nonexperts,…

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…

This study introduces intelligent frameworks that use Large Language Models (LLMs) to improve task scheduling for construction robots. The LLM is fed with key data about the desired task, such as agent action abilities, and the desired end…

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…

We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…

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…

This paper presents a novel framework, called PLANTOR (PLanning with Natural language for Task-Oriented Robots), that integrates Large Language Models (LLMs) with Prolog-based knowledge management and planning for multi-robot tasks. The…

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…

This paper introduces CoMuRoS (Collaborative Multi-Robot System), a generalizable hierarchical architecture for heterogeneous robot teams that unifies centralized deliberation with decentralized execution, and supports event-driven…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

A flurry of recent work has demonstrated that pre-trained large language models (LLMs) can be effective task planners for a variety of single-robot tasks. The planning performance of LLMs is significantly improved via prompting techniques,…

Large Language Models (LLMs) have been recently used in robot applications for grounding LLM common-sense reasoning with the robot's perception and physical abilities. In humanoid robots, memory also plays a critical role in fostering…

Modern manufacturing demands robotic assembly systems with enhanced flexibility and reliability. However, traditional approaches often rely on programming tailored to each product by experts for fixed settings, which are inherently…

We present a novel mission-planning strategy for heterogeneous multi-robot teams, taking into account the specific constraints and capabilities of each robot. Our approach employs hierarchical trees to systematically break down complex…

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…

The growing availability of building operational data motivates the use of reinforcement learning (RL), which can learn control policies directly from data and cope with the complexity and uncertainty of large-scale building clusters.…