Combining Control Barrier Functions and Behavior Trees for Multi-Agent Underwater Coverage Missions

Özkahraman, Özer; Ögren, Petter

doi:10.1109/cdc42340.2020.9304151

Cited by 17 publications

(12 citation statements)

References 18 publications

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“…Guaranteeing safety is often of highest priority. In this section we will see how we can use CBF to address the invariance property of Theorem 3, in a way that includes safety guarantees as a special case, as described in (28).…”

Section: Guaranteeing Safety and Handling Conflicting Objectivesmentioning

confidence: 99%

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Behavior Trees in Robot Control Systems

Ögren,

Sprague

2022

Preprint

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In this paper we will give 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, hierarchies and feedback, in order to handle the complexity of a versatile robot control system. Modularity is a well-known tool to handle software complexity by enabling development, debugging and extension of separate modules without having detailed knowledge of the entire system. A hierarchy of such modules is natural, since robot tasks can often be decomposed into a hierarchy of sub-tasks. Finally, feedback control is a fundamental tool for handling uncertainties and disturbances in any low level control system, but in order to enable feedback control on the higher level, where one module decides what submodule to execute, information regarding progress and applicability of each submodule needs to be shared in the module interfaces. We will describe how these three concepts come to use in theoretical analysis, practical design, as well as extensions and combinations with other ideas from control theory and robotics.

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Section: Guaranteeing Safety and Handling Conflicting Objectivesmentioning

confidence: 99%

“…Make sure Object in Gripper (12) Free path to Object exists (18) Move to Object (19) Robot near Goal (29) -> Move to Goal if possible (30) ? Make sure Close to Goal (28) Place Object at Goal (33) Free path to Goal exists (31) Move to Goal (32) Grasp Object with left arm (20) In Safe Area (…”

Section: Introductionmentioning

confidence: 99%

Behavior Trees in Robot Control Systems

Ögren,

Sprague

2022

Preprint

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“…BTs are used for drone inspection in congested traffic environments in [9] and completed trial runs at the Clifton Suspension Bridge. Other applications include multi agent underwater robots [10] and mobile manipulators for picking [11] and cleaning households [12].…”

Section: Related Work a Behavior Trees(bts)mentioning

confidence: 99%

A Persistent and Context-aware Behavior Tree Framework for Multi Sensor Localization in Autonomous Driving

Yi¹,

Nebot²

2021

Preprint

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Fig. 1. Vehicle trajectories of 53 rosbags in the University of Sydney Campus Dataset output from the GPS+lidar main filter are superimposed together onto a satellite image. No manual alignment of trajectory is performed. The color of trajectory points indicates the state of update used by the filter. Green: lidar feature updating. Blue: dead reckoning. Red: GPS updating. The blue dead reckoning area in the middle of the image is an underground carpark.

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“…Robotics applications of BTs span from manipulation [2]- [4] to non-expert programming [5]- [7]. Other works include task planning [8], human-robot interaction [9]- [11], learning [12]- [15], UAV [16]- [21], multi-robot systems [22]- [25], and system analysis [26]- [28]. The Boston Dynamics's Spot uses BTs to model the robot's mission [29], the Navigation Stack and the task planner of ROS2 uses BTs to encode the high level robot's behavior [30], [31].…”

Section: Introductionmentioning

confidence: 99%

Handling Concurrency in Behavior Trees

Colledanchise,

Natale

2021

Preprint

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This paper addresses the concurrency issues affecting Behavior Trees (BTs), a popular tool to model the behaviors of autonomous agents in the video game and the robotics industry.BT designers can easily build complex behaviors composing simpler ones, which represents a key advantage of BTs. The parallel composition of BTs expresses a way to combine concurrent behaviors that has high potential, since composing pre-existing BTs in parallel results easier than composing in parallel classical control architectures, as finite state machines or teleo-reactive programs. However, BT designers rarely use such composition due to the underlying concurrency problems similar to the ones faced in concurrent programming. As a result, the parallel composition, despite its potential, finds application only in the composition of simple behaviors or where the designer can guarantee the absence of conflicts by design.In this paper, we define two new BT nodes to tackle the concurrency problems in BTs and we show how to exploit them to create predictable behaviors. In addition, we introduce measures to assess execution performance and show how different design choices affect them. We validate our approach in both simulations and the real world. Simulated experiments provide statisticallysignificant data, whereas real-world experiments show the applicability of our method on real robots. We provide an opensource implementation of the novel BT formulation and published all the source code to reproduce the numerical examples and experiments.

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Combining Control Barrier Functions and Behavior Trees for Multi-Agent Underwater Coverage Missions

Cited by 17 publications

References 18 publications

Behavior Trees in Robot Control Systems

Behavior Trees in Robot Control Systems

A Persistent and Context-aware Behavior Tree Framework for Multi Sensor Localization in Autonomous Driving

Handling Concurrency in Behavior Trees

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