In this paper, we study the problem of using a planning algorithm to automatically create and update a Behavior Tree (BT), controlling a robot in a dynamic environment. Exploiting the characteristic of BTs, in terms of modularity and reactivity, the robot continually acts and plans to achieve a given goal using a set of abstract actions and conditions. The construction of the BT is based on an ...

We propose a design of a self-motivational system which would be suitable for both adaptation and development scenarios. The core features of our design are: the usage of general rewards and building up on a reactive system. As a test case for our design we use the human-robot interaction via shared attention. We show that with addition of a general-purpose self-motivational mechanism the syste...

A distributed system can be modeled by objects that run concurrently, each with its own processor, and communicate by remote method calls. However objects may have to wait for response to external calls; at best resulting in inefficient use of processor capacity, at worst resulting in deadlock. Furthermore, it is difficult to combine active and passive object behavior without defining explicit ...

The robotic soccer belongs to the class of multi-agent systems and involves many challenging sub-problems. Teams of robotic players have to cooperate in order to put the ball in the opposing goal and at the same time defend their own goal. The paper is concerned with the problem of learning and implementation of reactive behaviors for robotic agents playing soccer. It briefly presents the whole...

This work is devoted to planning and execution of complex missions in Robotics. It is organized around a complex mission: “Go around obstacles to the blackboard and write” for mobile manipulators that have capabilities of locomotion and manipulation. It is a simple and intuitive example of a complex mission that relies on different sensors, exhibits different operating modes and needs to switch...

This paper presents Icobjs, a simple, Java-based, visual framework for the programming of reactive applications. In the Icobjs (”Iconic Object”) formalism, graphical objects represent basic and hierarchically composed reactive behaviors that can be easily combined to produce more complex ones. The reactive language, on which Icobjs is based, is called Junior. It provides parallelism and broadca...

Real-world agents must react to changing conditions as they execute planned tasks. Conditions are typically monitored through time series representing state variables. While some predicates on these times series only consider one measure at a time, other predicates, sometimes called episodic predicates, consider sets of measures. We consider a special class of episodic predicates based on segme...

Computer traffic simulation is important for making new traffic-control strategies. Microscopic traffic simulators can model traffic flow in a realistic manner and are ideal for agent-based vehicle control. In this paper we describe a model of a reactive agent that is used to control a simulated vehicle. The agent is capable of tactical-level driving and has different driving styles. To ensure ...

Efficient path planning algorithms and decision-making control system are crucial issues for modern autonomous underwater vehicle (AUV) in complex underwater environment. In this paper, Fast Marching (FM) algorithm is used to extract cost optimal paths from complex and continuous environments, and meanwhile, we design a decision-making control system with reactive structure based on behavior. T...