519 citations · 746 across the 9 of their papers we have counts for
11 papers
A Survey of Behavior Trees in Robotics and AI
Matteo Iovino, Edvards Scukins, Jonathan Styrud +2
Behavior Trees (BTs) were invented as a tool to enable modular AI in computer games, but have received an increasing amount of attention in the robotics community in the last decad…
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…
Underwater Caging and Capture for Autonomous Underwater Vehicles
Özer Özkahraman, Petter Ögren
In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve thi…
A New UGV Teleoperation Interface for Improved Awareness of Network Connectivity and Physical Surroundings
Ramviyas Parasuraman, Sergio Caccamo, Fredrik Båberg +2
A reliable wireless connection between the operator and the teleoperated Unmanned Ground Vehicle (UGV) is critical in many Urban Search and Rescue (USAR) missions. Unfortunately, a…
RCAMP: A Resilient Communication-Aware Motion Planner for Mobile Robots with Autonomous Repair of Wireless Connectivity
Sergio Caccamo, Ramviyas Parasuraman, Luigi Freda +2
Mobile robots, be it autonomous or teleoperated, require stable communication with the base station to exchange valuable information. Given the stochastic elements in radio signal…
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…
Pound: A ROS node for Reducing Delay and Jitter in Wireless Multi-Robot Networks
Danilo Tardioli, Ramviyas Parasuraman, Petter Ögren
The Robot Operating System (ROS) is rapidly becoming the de facto framework for building robotics systems, thanks to its flexibility and the large acceptance that it has received i…
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…