A Framework for Formal Verification of Behavior Trees With Linear Temporal Logic
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.2970634
Abstract: Despite the current increasing popularity of Behavior Trees (BTs) in the robotics community, there does not currently exist a method to formally verify their correctness without compromising their most valuable traits: modularity, flexibility and reusability.… read more here.
Keywords: trees linear; behavior; temporal logic; behavior trees ... See more keywords
A Stack-of-Tasks Approach Combined With Behavior Trees: A New Framework for Robot Control
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3211481
Abstract: Stack-of-Tasks (SoT) control allows a robot to simultaneously fulfill a number of prioritized goals formulated in terms of (in)equality constraints in error space. Since this approach solves a sequence of Quadratic Programs (QP) at each… read more here.
Keywords: control; approach combined; combined behavior; stack tasks ... See more keywords
Learning Behavior Trees From Planning Experts Using Decision Tree and Logic Factorization
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3268598
Abstract: The increased popularity of Behavior Trees (BTs) in different fields of robotics requires efficient methods for learning BTs from data instead of tediously handcrafting them. Recent research in learning from demonstration reported encouraging results that… read more here.
Keywords: decision tree; behavior trees; logic factorization;
NCAlt: Alternatives and Difference Visualizations for Behavior Trees in Game Development Learning
Sign Up to like & getrecommendations! Published in 2022 at "Proceedings of the ACM on Human-Computer Interaction"
DOI: 10.1145/3549508
Abstract: When learning how to develop AI behavior it is common for students to test different ideas before settling on a desired outcome. This functionality is not available in modern behavior tree systems beyond the traditional… read more here.
Keywords: behavior tree; game development; development students; game ... See more keywords