Autonomous robots combine skills to form increasingly complex behaviors, called missions.
While skills are often programmed at a relatively low abstraction level, their coordination is …

This paper introduces Free Gait, a software framework for the control of robust, versatile, and
task-oriented control of legged robots. In contrast to common hardware abstraction layers …

This paper describes the Flexible Navigation system that extends the ROS Navigation stack
and compatible libraries to separate computation from decision making, and integrates the …

In industrial applications Finite State Machines (FSMs) are often used to implement decision
making policies for autonomous systems. In recent years, the use of Behavior Trees (BT) as …

Robotic technologies will continue to enter new applications in addition to automated
manufacturing and logistics. Once mobile robots can also operate outside of today's special …

Humanoid robots benefit from their anthropomorphic shape when operating in human-made
environments. In order to achieve human-like capabilities, robots must be able to perceive …

This paper describes a system wide approach to synthesizing executable robot behaviors
based on system capabilities. The approach builds upon prior work with the Flexible …

This paper presents synthesis tools for the ROS 2 version of the Flexible Behavior Engine
(FlexBE). Synthesis reduces the need for extensive testing and validation of hand crafted …

This chapter discusses the common reactive high-level behavioral control system used by
Team ViGIR and Team Hector on separate robots in the 2015 DARPA Robotics Challenge …

This paper presents a finite state machine-based approach to collaborative manipulation
using the Robot Operating System (ROS) compatible MoveIt! planning system and the …