Knowledge-based execution configuration for adaptive behavior trees

Automated planning is commonly used to obtain plans to solve particular tasks. To execute these plans, Behavior Trees have emerged as a popular execution architecture due to their reactivity and modularity. Configuring the execution of a plan into a Behavior Tree requires expanding the high level ac...

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Detalhes bibliográficos
Autores: Ruiz Celada, Oriol, Rosell Gratacòs, Jan|||0000-0003-4854-2370, Suárez Feijóo, Raúl|||0000-0002-3853-7095
Formato: artículo
Fecha de publicación:2026
País:España
Recursos:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:dnet:upcommonspor::b32c469e373661ecfda7fb65687cfed4
Acesso em linha:https://hdl.handle.net/2117/460387
https://dx.doi.org/10.1007/s10846-026-02373-1
Access Level:acceso abierto
Palavra-chave:Robotic manipulation
Behavior trees
Automated planning
Knowledge representation and reasoning
Ontologies
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling Knowledge-based execution configuration for adaptive behavior treesRuiz Celada, OriolRosell Gratacòs, Jan|||0000-0003-4854-2370Suárez Feijóo, Raúl|||0000-0002-3853-7095Robotic manipulationBehavior treesAutomated planningKnowledge representation and reasoningOntologiesÀrees temàtiques de la UPC::Informàtica::RobòticaAutomated planning is commonly used to obtain plans to solve particular tasks. To execute these plans, Behavior Trees have emerged as a popular execution architecture due to their reactivity and modularity. Configuring the execution of a plan into a Behavior Tree requires expanding the high level actions into the proper Behavior Tree structure. Typically, this is achieved using of pre-defined rigid templates. In this work, we propose a novel approach to generating the Behavior Trees using ontologies. The generated Behavior Trees are tailored to the specific requirements of a task and the world by using modifiers to a base template that provides a general solution to the task. These modifiers and their properties are formally defined using ontologies. A proof of concept is developed, illustrating how the Behavior Trees for the execution of manipulation tasks in a kitchen scenario can be adapted to varying conditions by applying different modifiers.Open Access funding provided thanks to the CRUE-CSIC agreement with Springer Nature. This work was supported by the European Commission’s Horizon Europe Framework Programme with the project AI-Powered Manipulation System for Advanced Robotic Service, Manufacturing and Prosthetics (IntelliMan) under Grant Agreement 101070136.Peer Reviewed20262026-03-0620262026-04-10journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/460387https://dx.doi.org/10.1007/s10846-026-02373-1reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)InglésengEuropean Commission http://doi.org/10.13039/501100000780 HE 101070136 AI-Powered Manipulation System for Advanced Robotic Service, Manufacturing and Prostheticsopen accesshttp://purl.org/coar/access_right/c_abf2Attribution 4.0 Internationalhttp://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:dnet:upcommonspor::b32c469e373661ecfda7fb65687cfed42026-05-27T15:37:01Z
dc.title.none.fl_str_mv Knowledge-based execution configuration for adaptive behavior trees
title Knowledge-based execution configuration for adaptive behavior trees
spellingShingle Knowledge-based execution configuration for adaptive behavior trees
Ruiz Celada, Oriol
Robotic manipulation
Behavior trees
Automated planning
Knowledge representation and reasoning
Ontologies
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Knowledge-based execution configuration for adaptive behavior trees
title_full Knowledge-based execution configuration for adaptive behavior trees
title_fullStr Knowledge-based execution configuration for adaptive behavior trees
title_full_unstemmed Knowledge-based execution configuration for adaptive behavior trees
title_sort Knowledge-based execution configuration for adaptive behavior trees
dc.creator.none.fl_str_mv Ruiz Celada, Oriol
Rosell Gratacòs, Jan|||0000-0003-4854-2370
Suárez Feijóo, Raúl|||0000-0002-3853-7095
author Ruiz Celada, Oriol
author_facet Ruiz Celada, Oriol
Rosell Gratacòs, Jan|||0000-0003-4854-2370
Suárez Feijóo, Raúl|||0000-0002-3853-7095
author_role author
author2 Rosell Gratacòs, Jan|||0000-0003-4854-2370
Suárez Feijóo, Raúl|||0000-0002-3853-7095
author2_role author
author
dc.subject.none.fl_str_mv Robotic manipulation
Behavior trees
Automated planning
Knowledge representation and reasoning
Ontologies
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Robotic manipulation
Behavior trees
Automated planning
Knowledge representation and reasoning
Ontologies
Àrees temàtiques de la UPC::Informàtica::Robòtica
description Automated planning is commonly used to obtain plans to solve particular tasks. To execute these plans, Behavior Trees have emerged as a popular execution architecture due to their reactivity and modularity. Configuring the execution of a plan into a Behavior Tree requires expanding the high level actions into the proper Behavior Tree structure. Typically, this is achieved using of pre-defined rigid templates. In this work, we propose a novel approach to generating the Behavior Trees using ontologies. The generated Behavior Trees are tailored to the specific requirements of a task and the world by using modifiers to a base template that provides a general solution to the task. These modifiers and their properties are formally defined using ontologies. A proof of concept is developed, illustrating how the Behavior Trees for the execution of manipulation tasks in a kitchen scenario can be adapted to varying conditions by applying different modifiers.
publishDate 2026
dc.date.none.fl_str_mv 2026
2026-03-06
2026
2026-04-10
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/460387
https://dx.doi.org/10.1007/s10846-026-02373-1
url https://hdl.handle.net/2117/460387
https://dx.doi.org/10.1007/s10846-026-02373-1
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv European Commission http://doi.org/10.13039/501100000780 HE 101070136 AI-Powered Manipulation System for Advanced Robotic Service, Manufacturing and Prosthetics
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution 4.0 International
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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