Behavior components address How to do it? and Can we do it?, while Arbitrators decide What to do? 🧠Meta-framework Integrate diverse methods in one decision-making framework. Why not combine ...
Abstract: Behaviour trees (BTs) are popular within robotics due to their reactivity, reusability, and modularity. BTs are often designed by hand using expert domain knowledge. However, robot ...
Abstract: This paper introduces a Control Barrier Function Behavior Tree (CBF-BT) approach to resolve assignments conflicts in multi-robot systems engaged in persistent coverage tasks. The proposed ...
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