519 citations · 829 across the 11 of their papers we have counts for
13 papers
Active Perception for Ambiguous Objects Classification
Evgenii Safronov, Nicola Piga, Michele Colledanchise +1
Recent visual pose estimation and tracking solutions provide notable results on popular datasets such as T-LESS and YCB. However, in the real world, we can find ambiguous objects t…
On the Implementation of Behavior Trees in Robotics
Michele Colledanchise, Lorenzo Natale
There is a growing interest in Behavior Trees (BTs) as a tool to describe and implement robot behaviors. BTs were devised in the video game industry and their adoption in robotics…
A Toolchain to Design, Execute, and Monitor Robots Behaviors
Michele Colledanchise, Giuseppe Cicala, Daniele E. Domenichelli +2
In this paper, we present a toolchain to design, execute, and verify robot behaviors. The toolchain follows the guidelines defined by the EU H2020 project RobMoSys and encodes the…
Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies
Michele Colledanchise, Giuseppe Cicala, Daniele E. Domenichelli +2
In this paper, we enable automated property verification of deliberative components in robot control architectures. We focus on formalizing the execution context of Behavior Trees…
Compact Belief State Representation for Task Planning
Evgenii Safronov, Michele Colledanchise, Lorenzo Natale
Task planning in a probabilistic belief state domains allows generating complex and robust execution policies in those domains affected by state uncertainty. The performance of a t…
Task Planning with Belief Behavior Trees
Evgenii Safronov, Michele Colledanchise, Lorenzo Natale
In this paper, we propose Belief Behavior Trees (BBTs), an extension to Behavior Trees (BTs) that allows to automatically create a policy that controls a robot in partially observa…
Act, Perceive, and Plan in Belief Space for Robot Localization
Michele Colledanchise, Damiano Malafronte, Lorenzo Natale
In this paper, we outline an interleaved acting and planning technique to rapidly reduce the uncertainty of the estimated robot's pose by perceiving relevant information from the e…
Analysis and Exploitation of Synchronized Parallel Executions in Behavior Trees
Michele Colledanchise, Lorenzo Natale
Behavior Trees (BTs) are becoming a popular tool to model the behaviors of autonomous agents in the computer game and the robotics industry. One of the key advantages of BTs lies i…
Improving the Parallel Execution of Behavior Trees
Michele Colledanchise, Lorenzo Natale
Behavior Trees (BTs) have become a popular framework for designing controllers of autonomous agents in the computer game and in the robotics industry. One of the key advantages of…
Behavior Trees in Robotics and AI: An Introduction
Michele Colledanchise, Petter Ögren
A Behavior Tree (BT) is a way to structure the switching between different tasks in an autonomous agent, such as a robot or a virtual entity in a computer game. BTs are a very effi…
Towards Blended Reactive Planning and Acting using Behavior Trees
Michele Colledanchise, Diogo Almeida, Petter Ögren
In this paper, we show how a planning algorithm can be used to automatically create and update a Behavior Tree (BT), controlling a robot in a dynamic environment. The planning part…
Learning of Behavior Trees for Autonomous Agents
Michele Colledanchise, Ramviyas Parasuraman, Petter Ögren
Definition of an accurate system model for Automated Planner (AP) is often impractical, especially for real-world problems. Conversely, off-the-shelf planners fail to scale up and…
Adaptive Fault Tolerant Execution of Multi-Robot Missions using Behavior Trees
Michele Colledanchise, Alejandro Marzinotto, Dimos V. Dimarogonas +1
Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities whe…