Behavior Trees in Robotics and AI: An Introduction

Colledanchise, Michele; Ögren, Petter

doi:10.48550/arxiv.1709.00084

Cited by 4 publications

(11 citation statements)

References 40 publications

(91 reference statements)

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“…Standard BTs were designed to control an agent behavior, by reactively plan tasks to execute [16]. Thanks to their design, they allow generating different behaviors that satisfy conditions evaluated online.…”

Section: Impossible To Completementioning

confidence: 99%

An Integrated Dynamic Method for Allocating Roles and Planning Tasks for Mixed Human-Robot Teams

Fusaro

Lamon

Momi

et al. 2021

2021 30th IEEE International Conference on Robot &Amp; Human Interactive Communication (RO-MAN)

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This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job as a compound of different tasks with temporal and logic constraints. In this way, instead of the well-studied offline centralized optimization problem, the role allocation problem is solved with multiple simplified online optimization sub-problem, without complex and cross-schedule task dependencies. These sub-problems are defined as Mixed-Integer Linear Programs, that, according to the worker-actions related costs and the workers' availability, allocate the yet-to-execute tasks among the available workers. To characterize the behavior of the developed method, we opted to perform different simulation experiments in which the results of the action-worker allocation and computational complexity are evaluated. The obtained results, due to the nature of the algorithm and to the possibility of simulating the agents' behavior, should describe well also how the algorithm performs in real experiments.

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Section: Impossible To Completementioning

confidence: 99%

An Integrated Dynamic Method for Allocating Roles and Planning Tasks for Mixed Human-Robot Teams

Fusaro

Lamon

Momi

et al. 2021

2021 30th IEEE International Conference on Robot &Amp; Human Interactive Communication (RO-MAN)

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“…Rule-based systems are the first AAI approach used to replace general-purpose, code-based behavioral development for the creation of interactive and social robots, as well as virtual agents [35]. While rule-based systems are still popular in certain fields, such as the Internet of Things (IoT) [36], [37], in Robotics, they have been replaced to a great extent FSMs and BTs [35], [38].…”

Section: Related Work and Contributionsmentioning

confidence: 99%

“…However, practice suggests that the code based on FSMs and other data-flow methods tends to be messy. The resulting visual programs are difficult to analyze, re-use, maintain and scale [13], [38]. The most relevant EUD platforms for social robots using classical scripting notations (in block-based interfaces), rules, and data-flow visual languages, have been described in [13].…”

Section: Related Work and Contributionsmentioning

confidence: 99%

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Towards a Modular and Distributed End-User Development Framework for Human-Robot Interaction

et al. 2021

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In an effort towards the democratization of Robotics, this article presents a novel End-User Development framework called Robot Interfaces From Zero Experience (RIZE). The framework provides a set of useful software tools for the creation of robot-oriented software architectures and programming interfaces, as well as the modeling and execution of robot behaviors, with a specific emphasis on social behaviors. Programming interfaces built on top of RIZE enable professionals with different backgrounds and interests to design, adapt, and scale-up robotics applications. As an example of a programming interface, we present Open RIZE, which exploits an End-User Programming paradigm combining blocks, tables, and forms-filling interfaces. Unlike previous approaches, robot behavioral code generated by Open RIZE is intrinsically modular, re-usable, scalable, neutral to the employed programming language, and platformagnostic. In the article, we present the main design guidelines and features of Open RIZE. Additionally, we perform an initial usability evaluation of the Open RIZE interface in an online workshop. Preliminary results using the System Usability Scale with 10 novice end-users indicate that Open RIZE is easy-to-use and learn.INDEX TERMS Robotics, human-robot interaction, end-user development, robot programming, social robots, service robots.

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“…While these allow for solving challenging tasks, the comprehension by naïve users suffers. This is primarily due to the frequently used, hierarchical structure of the planning process [Bryson, 2001, Colledanchise and Ögren, 2017, Erol, 1996, Peterson, 1977.…”

Section: Robot Control Architecturementioning

confidence: 99%

Improving HRI through robot architecture transparency

Hindemith¹,

Vollmer²,

Wiebel-Herboth³

et al. 2021

Preprint

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In recent years, an increased effort has been invested to improve the capabilities of robots. Nevertheless, human-robot interaction remains a complex field of application where errors occur frequently. The reasons for these errors can primarily be divided into two classes. Foremost, the recent increase in capabilities also widened possible sources of errors on the robot's side. This entails problems in the perception of the world, but also faulty behavior, based on errors in the system. Apart from that, non-expert users frequently have incorrect assumptions about the functionality and limitations of a robotic system. This leads to incompatibilities between the user's behavior and the functioning of the robot's system, causing problems on the robot's side and in the human-robot interaction. While engineers constantly improve the reliability of robots, the user's understanding about robots and their limitations have to be addressed as well. In this work, we investigate ways to improve the understanding about robots. For this, we employ FAMILIAR -FunctionAl user Mental model by Increased LegIbility ARchitecture, a transparent robot architecture with regard to the robot behavior and decision-making process. We conducted an online simulation user study to evaluate two complementary approaches to convey and increase the knowledge about this architecture to non-expert users: a dynamic visualization of the system's processes as well as a visual programming interface. The results of this study reveal that visual programming improves knowledge about the architecture. Furthermore, we show that with increased knowledge about the control architecture of the robot, users were significantly better in reaching the interaction goal. Furthermore, we showed that anthropomorphism may reduce interaction success.

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Behavior Trees in Robotics and AI: An Introduction

Cited by 4 publications

References 40 publications

An Integrated Dynamic Method for Allocating Roles and Planning Tasks for Mixed Human-Robot Teams

An Integrated Dynamic Method for Allocating Roles and Planning Tasks for Mixed Human-Robot Teams

Towards a Modular and Distributed End-User Development Framework for Human-Robot Interaction

Improving HRI through robot architecture transparency

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