In this article, we provide a control-theoretic perspective on the research area of behavior
trees in robotics. The key idea underlying behavior trees is to make use of modularity …

Abstract 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 …

Industrial robots can solve tasks in controlled environments, but modern applications require
robots able to operate also in unpredictable surroundings. An increasingly popular reactive …

We present a task-and-motion planning (TAMP) algorithm robust against a human operator's
cooperative or adversarial interventions. Interventions often invalidate the current plan and …

Nowadays, the behavior tree is gaining popularity as a representation for robot tasks due to
its modularity and reusability. Designing behavior-tree tasks manually is time-consuming for …

Robotic systems for manipulation tasks are increasingly expected to be easy to configure for
new tasks. While in the past, robot programs were often written statically and tuned …

This paper develops an automatic online Behavior Tree (BT) synthesis and execution
technique to guide an autonomous agent to accomplish a series of missions expressed in …

Over the last decade, the use of robots in production and daily life has increased. With
increasingly complex tasks and interaction in different environments including humans …

This paper proposes a systematic approach for automatic tasking and coordination of a
heterogeneous team of cooperative autonomous vehicles forming an intelligent vehicle …

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 …