58 citations · 96 across the 7 of their papers we have counts for
9 papers
An Extended Convergence Result for Behaviour Tree Controllers
Christopher Iliffe Sprague, Petter Ögren
Behavior trees (BTs) are an optimally modular framework to assemble hierarchical hybrid control policies from a set of low-level control policies using a tree structure. Many robot…
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,…
Fully-probabilistic Terrain Modelling with Stochastic Variational Gaussian Process Maps
Ignacio Torroba, Christopher Illife Sprague, John Folkesson
Gaussian processes (GPs) are becoming a standard tool to build terrain representations thanks to their capacity to model map uncertainty. This effectively yields a reliability meas…
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…
PointNetKL: Deep Inference for GICP Covariance Estimation in Bathymetric SLAM
Ignacio Torroba, Christopher Iliffe Sprague, Nils Bore +1
Registration methods for point clouds have become a key component of many SLAM systems on autonomous vehicles. However, an accurate estimate of the uncertainty of such registration…
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…
Improving the Modularity of AUV Control Systems using Behaviour Trees
Christopher Iliffe Sprague, Özer Özkahraman, Andrea Munafo +3
In this paper, we show how behaviour trees (BTs) can be used to design modular, versatile, and robust control architectures for mission-critical systems. In particular, we show thi…
Adding Neural Network Controllers to Behavior Trees without Destroying Performance Guarantees
Christopher Iliffe Sprague, Petter Ögren
In this paper, we show how Behavior Trees that have performance guarantees, in terms of safety and goal convergence, can be extended with components that were designed using machin…
Machine learning and evolutionary techniques in interplanetary trajectory design
Dario Izzo, Christopher Sprague, Dharmesh Tailor
After providing a brief historical overview on the synergies between artificial intelligence research, in the areas of evolutionary computations and machine learning, and the optim…