58 citations · 61 across the 8 of their papers we have counts for
5 papers · 1 filter
Agent Utilities over Generalized Voronoi Regions and their Gradients
Andre N. Costa, Petter Ögren, Carlos H. C. Ribeiro
In this paper, we generalize the concept of Voronoi regions, define agent utility as the integral of a utility density over the corresponding Voronoi region, derive gradients of th…
Least Restrictive Hyperplane Control Barrier Functions
Mattias Trende, Petter Ögren
Control Barrier Functions (CBFs) can provide provable safety guarantees for dynamic systems. However, finding a valid CBF for a system of interest is often non-trivial, especially…
Improving the performance of Learned Controllers in Behavior Trees using Value Function Estimates at Switching Boundaries
Mart Kartasev, Petter Ögren
Behavior trees represent a modular way to create an overall controller from a set of sub-controllers solving different sub-problems. These sub-controllers can be created in differe…
Behavior Trees in Robot Control Systems
Petter Ögren, Christopher I. Sprague
In this paper we will give a control theoretic perspective on the research area of behavior trees in robotics. The key idea underlying behavior trees is to make use of modularity,…
Combining Control Barrier Functions and Behavior Trees for Multi-Agent Underwater Coverage Missions
Özer Özkahraman, Petter Ögren
Robot missions typically involve a number of desired objectives, such as avoiding collisions, staying connected to other robots, gathering information using sensors and returning t…