11 accepted papers
The problem of passive learning of linear temporal logic formulae consists in finding the best explanation for how two sets of execution traces differ, in the form of the shortest formula that separates the two sets. We approach the problem by implementing an exhaustive search algorithm optimized fo
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 that do not allow exact classification and detection from a single view. In this work, we propose a framework that, given…
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 (BTs) to provide a scalable, yet formally grounded, methodology to enable runtime verification and prevent unexpected ro…
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 resulted in the development of ad-hoc libraries to design and execute BTs that fit complex robotics software architectur
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 environment, as recognizing an object or asking someone for a direction. Generally, existing localization approaches rely…
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 observable environments. We extend the semantic of BTs to account for the uncertainty that affects both the conditions and acti…
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 in their composability, where complex behaviors can be built by composing simpler ones. The parallel composition is the o…
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 of the algorithm is based on the idea of back chaining. Starting from a goal condition we iteratively select actions to…
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 BTs lies in their modularity, where independent modules can be composed to create more complex ones. In the classical fo…
In this paper we study the problem of synthesizing correct-by-construction Behavior Trees (BTs) controlling agents in adversarial environments. The proposed approach combines the modularity and reactivity of BTs with the formal guarantees of Linear Temporal Logic (LTL) methods. Given a set of admiss…
Behavior Trees (BTs) is a way of organizing the switching structure of a control system, that was originally developed in the computer gaming industry but is now also being used in robotics. The Teleo-Reactive programs (TRs) is a highly cited reactive hierarchical robot control approach suggested by…