Towards a unified behavior trees framework for robot control

Marzinotto, Alejandro; Colledanchise, Michele; Smith, Christian; Ögren, Petter

doi:10.1109/icra.2014.6907656

Cited by 169 publications

(130 citation statements)

References 21 publications

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“…The correctness of the analytical estimates can be seen from Table II. We compare the analytical solution derived using our approach with numerical results given by a massive Monte Carlo simulation carried out using a BT implementation in the Robot Operative System (ROS) [13] where actions and conditions are performed using ROS nodes with outcomes computed using the C++ random number generator with exponential distribution. The BT implementation in ROS was run approximately 80000 times to have enough samples to get numerical averages close to the true values.…”

Section: Numerical Verification and Complex Examplementioning

confidence: 98%

Performance analysis of stochastic behavior trees

Colledanchise

Marzinotto

Ögren

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents a mathematical framework for performance analysis of Behavior Trees (BTs). BTs are a recent alternative to Finite State Machines (FSMs), for doing modular task switching in robot control architectures. By encoding the switching logic in a tree structure, instead of distributing it in the states of a FSM, modularity and reusability are improved.In this paper, we compute performance measures, such as success/failure probabilities and execution times, for plans encoded and executed by BTs. To do this, we first introduce Stochastic Behavior Trees (SBT), where we assume that the probabilistic performance measures of the basic action controllers are given. We then show how Discrete Time Markov Chains (DTMC) can be used to aggregate these measures from one level of the tree to the next. The recursive structure of the tree then enables us to step by step propagate such estimates from the leaves (basic action controllers) to the root (complete task execution). Finally, we verify our analytical results using massive Monte Carlo simulations, and provide an illustrative example of the results for a complex robotic task.

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Section: Numerical Verification and Complex Examplementioning

confidence: 98%

Performance analysis of stochastic behavior trees

Colledanchise

Marzinotto

Ögren

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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“…When the execution of a node in the behaviour tree is allowed, it returns to the parent a status which can be: running, if its execution has not finished yet; success, if it has achieved its goal; or failure, otherwise. Our implementation is based on the Python library behav-ior3py (https://github.com/behavior3/behavior3py) by Marzinotto et al [MCSg14], which uses a blackboard as a shared memory to keep local and/or general information among agents. This blackboard is used at the behaviour tree node level, the agent level and the whole army level, to provide global goals to all the agents simultaneously.…”

Section: Artificial Intelligencementioning

confidence: 99%

Simulating the Evolution of Ancient Fortified Cities

Mas

Martín

Patow

2020

Computer Graphics Forum

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Ancient cities and castles are ubiquitous cultural heritage structures all over Europe, and countless digital creations (e.g. movies and games) use them for storytelling. However, they got little or no attention in the computer graphics literature. This paper aims to close the gap between historical and geometrical modelling, by presenting a framework that allows the forward and inverse design of ancient city (e.g. castles and walled cities) evolution along history. The main component is an interactive loop that cycles over a number of years simulating the evolution of a city. The user can define events, such as battles, city growth, wall creations or expansions, or any other historical event. Firstly, cities (or castles) and their walls are created, and, later on, expanded to encompass civil or strategic facilities to protect. In our framework, battle simulations are used to detect weaknesses and strengthen them, evolving to accommodate to developments in offensive weaponry. We conducted both forward and inverse design tests on three different scenarios: the city of Carcassone (France), the city of Gerunda (Spain) and the Ciutadella in ancient Barcelona. All the results have been validated by historians who helped fine‐tune the different parameters involved in the simulations.

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“…Transitions between nodes are specified by the type of parent node. In robotics, BTs have been recently tested in humanoid robot control [23]–[25]. Here, we explore the potential utility of BTs as a modeling language for intelligent robotic surgical procedures.…”

Section: Surgical Procedures Modeling With Behavior Treesmentioning

confidence: 99%

“…Our BT framework is adopted from the recent work of Marzinotto et al [23]. Leaves of the BT are subtask execution modules.…”

Section: Surgical Procedures Modeling With Behavior Treesmentioning

confidence: 99%

Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree

Gong

Hannaford

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Medical robots have been widely used to assist surgeons to carry out dexterous surgical tasks via various ways. Most of the tasks require surgeon’s operation directly or indirectly. Certain level of autonomy in robotic surgery could not only free the surgeon from some tedious repetitive tasks, but also utilize the advantages of robot: high dexterity and accuracy. This paper presents a semi-autonomous neurosurgical procedure of brain tumor ablation using RAVEN Surgical Robot and stereo visual feedback. By integrating with the behavior tree framework, the whole surgical task is modeled flexibly and intelligently as nodes and leaves of a behavior tree. This paper provides three contributions mainly: (1) describing the brain tumor ablation as an ideal candidate for autonomous robotic surgery, (2) modeling and implementing the semi-autonomous surgical task using behavior tree framework, and (3) designing an experimental simulated ablation task for feasibility study and robot performance analysis.

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Towards a unified behavior trees framework for robot control

Cited by 169 publications

References 21 publications

Performance analysis of stochastic behavior trees

Performance analysis of stochastic behavior trees

Simulating the Evolution of Ancient Fortified Cities

Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree

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