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 …

Behavior trees (BTs) are a way of organizing the switching structure of a hybrid dynamical
system (HDS), which was originally introduced in the computer game programming …

For collaborative robots to become useful, end users who are not robotics experts must be
able to instruct them to perform a variety of tasks. With this goal in mind, we developed a …

This paper presents a unified framework for Behavior Trees (BTs), a plan representation and
execution tool. The available literature lacks the consistency and mathematical rigor …

Featured Application This work aims to review the use of ROS2 as middleware to integrate
heterogeneous hardware and software components in order to enable fixed-base robots to …

Recent advancement in vision‐based robotics and deep‐learning techniques has enabled
the use of intelligent systems in a wider range of applications requiring object manipulation …

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 …

Autonomous robots combine a variety of skills to form increasingly complex behaviors called
missions. While the skills are often programmed at a relatively low level of abstraction, their …

In this paper, we study the problem of automatically synthesizing a successful behavior tree
(BT) in an a priori unknown dynamic environment. Starting with a given set of actions, a …