519 citations · 746 across the 9 of their papers we have counts for
3 papers · 1 filter
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…