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08/17/2023
An Extended Convergence Result for Behaviour Tree Controllers
Behavior trees (BTs) are an optimally modular framework to assemble hier...
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05/30/2023
Improving the performance of Learned Controllers in Behavior Trees using Value Function Estimates at Switching Boundaries
Behavior trees represent a modular way to create an overall controller f...
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03/24/2022
Behavior Trees in Robot Control Systems
In this paper we will give a control theoretic perspective on the resear...
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09/03/2021
Continuous-Time Behavior Trees as Discontinuous Dynamical Systems
Behavior trees represent a hierarchical and modular way of combining sev...
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09/03/2021
On the similarities between Control Barrier Functions (CBFs) and Behavior Control Lyapunov Functions (BCLFs)
Control Barrier Functions (CBFs) is an important tool used to address si...
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08/21/2020
Combining Control Barrier Functions and Behavior Trees for Multi-Agent Underwater Coverage Missions
Robot missions typically involve a number of desired objectives, such as...
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05/12/2020
A Survey of Behavior Trees in Robotics and AI
Behavior Trees (BTs) were invented as a tool to enable modular AI in com...
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02/27/2019
Learning a Family of Optimal State Feedback Controllers
Solving optimal control problems is well known to be very computationall...
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11/01/2018
Improving the Modularity of AUV Control Systems using Behaviour Trees
In this paper, we show how behaviour trees (BTs) can be used to design m...
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09/26/2018
Adding Neural Network Controllers to Behavior Trees without Destroying Performance Guarantees
In this paper, we show how controllers created using data driven designs...
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09/26/2018
A Two-Step Pursuit-Evasion Algorithm for Autonomous Underwater Vehicles
In this paper, we consider the problem of pursuit-evasion using multiple...
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09/26/2018
3D Pursuit-Evasion for AUVs
In this paper, we consider the problem of pursuit-evasion using multiple...
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10/18/2017
RCAMP: A Resilient Communication-Aware Motion Planner for Mobile Robots with Autonomous Repair of Wireless Connectivity
Mobile robots, be it autonomous or teleoperated, require stable communic...
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10/04/2017
A New UGV Teleoperation Interface for Improved Awareness of Network Connectivity and Physical Surroundings
A reliable wireless connection between the operator and the teleoperated...
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08/31/2017
Behavior Trees in Robotics and AI: An Introduction
A Behavior Tree (BT) is a way to structure the switching between differe...
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11/01/2016
Towards Blended Reactive Planning and Acting using Behavior Trees
In this paper, we study the problem of using a planning algorithm to aut...
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04/22/2015
