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eess.SY2021
Continuous-Time Behavior Trees as Discontinuous Dynamical Systems
Christopher Iliffe Sprague, Petter Ögren
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 b…
eess.SY2019
Learning Dynamic-Objective Policies from a Class of Optimal Trajectories
Christopher Iliffe Sprague, Dario Izzo, Petter Ögren
Optimal state-feedback controllers, capable of changing between different objective functions, are advantageous to systems in which unexpected situations may arise. However, synthe…