58 citations · 96 across the 7 of their papers we have counts for
3 papers · 1 filter
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…
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…
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…