Event
AI & Robotics Seminar: Michele Colledanchise, "Blended reactive planning/acting with behavior trees"
Monday, December 5, 2016
11:00 a.m.
4172 AV Williams Bldg
Ania Picard
301 405 4358
appicard@umd.edu
Seminar Presentation on AI and Robotics
A Step Towards Blended Reactive Planning and Acting using Behavior Trees
Michele Colledanchise
KTH, Stockholm, Sweden
Host
Dana Nau
Abstract
Behavior Trees (BTs) have become a popular framework for designing controllers of in-game opponents in the computer gaming industry due to their modularity and reactivity. Such in-game opponents have to rapidly react to environmental changes switching between control policies. These characteristics are often required in robotics. In this talk, we explore the possibility of designing a robotic control framework in a BT fashion and briefly show how to formalize and rigorously analyse structural properties of BTs using standard tools of control theory.
We also investigate the problem of using a planning algorithm to automatically create and update a BT, controlling a robot in a dynamic and unpredictable environment. Exploiting the characteristic of BTs, in terms of modularity and reactivity, the robot continually plans and acts to achieve a given goal adapting its behavior to face environmental changes.
We believe that this might be a first step to address the recently raised open challenge in automated planning: the need of a hierarchical structure and a continuous online planning and acting framework.
