Publications

Books:

  • M. Colledanchise and P. Ögren, Behavior Trees in Robotics and AI: An Introduction, Taylor & Francis Group, 2018.
    [Bibtex]
    @book{BTBook,
    title={{Behavior Trees in Robotics and AI: An Introduction}},
    author={Colledanchise, Michele and \"Ogren, Petter},
    isbn={9781138593732},
    series={{Chapman and Hall/CRC Artificial Intelligence and Robotics Series}},
    year={2018},
    publisher={Taylor \& Francis Group}
    }

Peer reviewed:

  • M. Colledanchise and L. Natale, "Improving the Parallel Execution of Behavior Treed," in Intelligent Robots and Systems (IROS), 2018 IEEE/RSJ International Conference on, 2018.
    [Bibtex]
    @INPROCEEDINGS{IROS16Colledanchise,
    author={Colledanchise, Michele and Natale, Lorenzo},
    booktitle={Intelligent {R}obots and {S}ystems ({IROS}), 2018 {IEEE/RSJ} {I}nternational {C}onference on},
    title={{Improving the Parallel Execution of Behavior Treed}},
    year={2018},
    month={Oct},
    }
  • M. Colledanchise and L. Natale, "Towards reactive and robust manipulation tasks using behavior trees," in In proceedings of Workshop on Towards Robust Grasping and Manipulation Skills for Humanoids, IEEE-RAS International Conference on Humanoid Robots, 2017.
    [Bibtex]
    @INPROCEEDINGS{colledanchisetowards,
    title={Towards Reactive and Robust Manipulation Tasks using Behavior Trees},
    author={Colledanchise, Michele and Natale, Lorenzo},
    booktitle={{In proceedings of Workshop on Towards Robust Grasping and Manipulation Skills for Humanoids, IEEE-RAS International Conference on Humanoid Robots}},
    year={2017}
    }
  • M. Colledanchise, R. N. Parasuraman, and P. Ogren, "Learning of Behavior Trees for Autonomous Agents," Ieee transactions on games, 2018.
    [Bibtex]
    @article{colledanchise2018learning,
    title={{Learning of Behavior Trees for Autonomous Agents}},
    author={Colledanchise, Michele and Parasuraman, Ramviyas Nattanmai and Ogren, Petter},
    journal={IEEE Transactions on Games},
    year={2018},
    publisher={IEEE}
    }
  • [DOI] M. Colledanchise and P. Ögren, "How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees," Ieee transactions on robotics, vol. 33, iss. 2, pp. 372-389, 2017.
    [Bibtex]
    @ARTICLE{TRO17Colledanchise,
    author={Michele Colledanchise and Petter \"Ogren},
    journal={IEEE Transactions on Robotics},
    title={{How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees}},
    year={2017},
    volume={33},
    number={2},
    pages={372-389},
    keywords={continuous systems;decision trees;discrete systems;switching systems (control);HDS;behavior trees;decision trees;hybrid control systems;hybrid dynamical system;sequential behavior compositions;subsumption architecture;switching structure;Computer architecture;Decision trees;High definition video;Robot control;Switches;Behavior trees (BTs);decision trees;finite state machines (FSMs);hybrid dynamical systems (HDSs);modularity;sequential behavior compositions;subsumption architecture},
    doi={10.1109/TRO.2016.2633567},
    ISSN={1552-3098},
    month={April},}
  • B. Christalin, M. Colledanchise, P. Ögren, and R. Murray, "Synthesis of Reactive Control Protocols for Switch Electrical Power Systems for Commercial Application with Safety Specifications," in Computational Intelligence, 2016 IEEE Symposium Series on, 2016.
    [Bibtex]
    @inproceedings{Christalin2016synthesis,
    title={Synthesis of {R}eactive {C}ontrol {P}rotocols for {S}witch {E}lectrical {P}ower {S}ystems for {C}ommercial {A}pplication with {S}afety {S}pecifications},
    author={Christalin, Benson and Michele Colledanchise and {\"O}gren, Petter and Murray, Richard},
    booktitle={{C}omputational {I}ntelligence, 2016 {IEEE} {S}ymposium {S}eries on},
    pages={},
    year={2016},
    organization={IEEE}
    }
  • M. Colledanchise and P. Ögren, "How Behavior Trees Generalize the Teleo-Reactive Paradigm and And-Or-Trees," in Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, 2016.
    [Bibtex]
    @INPROCEEDINGS{IROS16Colledanchise,
    author={Michele Colledanchise and \"Ogren, Petter},
    booktitle={Intelligent {R}obots and {S}ystems ({IROS}), 2016 {IEEE/RSJ} {I}nternational {C}onference on},
    title={How {B}ehavior {T}rees {G}eneralize the {T}eleo-{R}eactive {P}aradigm and {A}nd-{O}r-{T}rees},
    year={2016},
    month={Oct},
    }
  • M. Colledanchise, R. Murray, and P. Ögren, "Synthesis of Correct-by-Construction Behavior Trees," in Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on, 2017.
    [Bibtex]
    @INPROCEEDINGS{IROS17Colledanchise,
    author={Michele Colledanchise and Murray, Richard and \"Ogren, Petter},
    booktitle={Intelligent {R}obots and {S}ystems ({IROS}), 2017 {IEEE/RSJ} {I}nternational {C}onference on},
    title={{Synthesis of Correct-by-Construction Behavior Trees}},
    year={2017},
    month={Sep},
    }
  • C. L. McGhan, Y. Wang, M. Colledanchise, T. Vaquero, R. Murray, B. Williams, and P. Ögren, "Towards Architecture-wide Analysis, Verification, and Validation for Total System Stability During Goal-Seeking Space Robotics Operations," in AIAA SPACE, , 2016, p. 5607.
    [Bibtex]
    @incollection{mcghan2016towards,
    title={Towards {A}rchitecture-wide {A}nalysis, {V}erification, and {V}alidation for {T}otal {S}ystem {S}tability {D}uring {G}oal-{S}eeking {S}pace {R}obotics {O}perations},
    author={McGhan, Catharine L and Wang, Yuh-Shyang and Michele Colledanchise and Vaquero, Tiago and Murray, Richard and Williams, Brian and {\"O}gren, Petter},
    booktitle={{AIAA} {SPACE}},
    pages={5607},
    year={2016},
    }
  • M. Colledanchise, A. Marzinotto, D. V. Dimarogonas, and P. Ögren, "The advantages of using behavior trees in multi-robot systems," in International Symposium on Robotics (ISR), 2016.
    [Bibtex]
    @INPROCEEDINGS{ISR16Colledanchise,
    author={Michele Colledanchise and Marzinotto,Alejandro and Dimarogonas, Dimos V. and \"Ogren, Petter},
    booktitle={International {S}ymposium on {R}obotics ({ISR})},
    title={The Advantages of Using Behavior Trees in Multi-Robot Systems
    },
    year={2016},
    month={June},}
  • [DOI] M. Colledanchise, D. V. Dimarogonas, and P. Ögren, "Robot navigation under uncertainties using event based sampling," in Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, 2014, pp. 1438-1445.
    [Bibtex]
    @INPROCEEDINGS{CDC14Colledanchise,
    author={Michele Colledanchise and Dimarogonas, Dimos V. and \"Ogren, Petter},
    booktitle={Decision and {C}ontrol ({CDC}), 2014 {IEEE} 53rd {A}nnual {C}onference on},
    title={Robot navigation under uncertainties using event based sampling},
    year={2014},
    month={Dec},
    pages={1438-1445},
    keywords={Bismuth;Collision avoidance;Navigation;Robot sensing systems;Time measurement;Uncertainty},
    doi={10.1109/CDC.2014.7039603},}
  • Y. Wang, M. Colledanchise, A. Marzinotto, and P. Ögren, "A distributed convergent solution to the ambulance positioning problem on a streetmap graph," in World congress, 2014, p. 9190–9196.
    [Bibtex]
    @inproceedings{IFAC14Wang,
    title={A Distributed Convergent Solution to the Ambulance Positioning Problem on a Streetmap Graph},
    author={Wang, Yuquan and Michele Colledanchise and Marzinotto, Alejandro and \"Ogren, Petter},
    booktitle={World Congress},
    volume={19},
    number={1},
    pages={9190--9196},
    year={2014}
    }
  • [DOI] M. Colledanchise and P. Ögren, "How Behavior Trees Modularize Robustness and Safety in Hybrid Systems," in Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014, pp. 1482-1488.
    [Bibtex]
    @INPROCEEDINGS{IROS14Colledanchise,
    author={Michele Colledanchise and \"Ogren, Petter},
    booktitle={Intelligent {R}obots and {S}ystems ({IROS} 2014), 2014 {IEEE/RSJ} {I}nternational {C}onference on},
    title={How {B}ehavior {T}rees {M}odularize {R}obustness and {S}afety in {H}ybrid {S}ystems},
    year={2014},
    month={Sept},
    pages={1482-1488},
    keywords={computer games;control system synthesis;robot programming;robust control;safety;trees (mathematics);behavior trees;computer gaming industry;hybrid systems;in-game opponents;robot control software;robot control theory;robustness;safety;Computers;Games;Robots;Robustness;Safety;Switches;Vehicles},
    doi={10.1109/IROS.2014.6942752},}
  • [DOI] M. Colledanchise, A. Marzinotto, and P. Ögren, "Performance Analysis of Stochastic Behavior Trees," in Robotics and Automation (ICRA), 2014 IEEE International Conference on, 2014, pp. 3265-3272.
    [Bibtex]
    @INPROCEEDINGS{ICRA14Colledanchise,
    author={Michele Colledanchise and Marzinotto, Alejandro and \"Ogren, Petter},
    booktitle={Robotics and {A}utomation ({ICRA}), 2014 {IEEE} {I}nternational {C}onference on},
    title={Performance {A}nalysis of {S}tochastic {B}ehavior {T}rees},
    year={2014},
    month={May},
    pages={3265-3272},
    keywords={Markov processes;discrete time systems;finite state machines;robots;trees (mathematics);DTMC;FSM;Monte Carlo simulations;SBT;complex robotic task;discrete time Markov chains;finite state machines;modular task switching;performance analysis;performance measures;robot control architectures;stochastic behavior trees;success-failure probabilities;switching logic;tree structure;Markov processes;Probabilistic logic;Reliability;Robots;Switches;Transient analysis;Vectors},
    doi={10.1109/ICRA.2014.6907328},}
  • [DOI] A. Marzinotto, M. Colledanchise, S. Chrisitian, and P. Ögren, "Towards a Unified Behavior Trees Framework for Robot Control," in Robotics and Automation (ICRA), 2014 IEEE International Conference on, 2014, pp. 5420-5427.
    [Bibtex]
    @INPROCEEDINGS{ICRA14Marzinotto,
    author={ Marzinotto, Alejandro and Michele Colledanchise and Chrisitian, Smith and \"Ogren, Petter},
    booktitle={Robotics and {A}utomation ({ICRA}), 2014 {IEEE} {I}nternational {C}onference on},
    title={Towards a {U}nified {B}ehavior {T}rees {F}ramework for {R}obot {C}ontrol},
    year={2014},
    month={May},
    pages={5420-5427},
    keywords={manipulators;trees (mathematics);BTs;CHDSs;behavior trees;controlled hybrid dynamical systems;execution tool;grasping mission;plan representation;robot control;Heuristic algorithms;Robots;Synchronization;Tin;Trajectory;Vehicles},
    doi={10.1109/ICRA.2014.6907656},}
  • [DOI] M. Colledanchise, D. V. Dimarogonas, and P. Ögren, "Obstacle Avoidance in Formation Using Navigation-like Functions and Constraint Based Programming," in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013, pp. 5234-5239.
    [Bibtex]
    @INPROCEEDINGS{IROS13Colledanchise,
    author={Michele Colledanchise and Dimarogonas, Dimos V. and \"Ogren, Petter},
    booktitle={Intelligent {R}obots and {S}ystems ({IROS}), 2013 {IEEE/RSJ} {I}nternational {C}onference on},
    title={Obstacle {A}voidance in {F}ormation {U}sing {N}avigation-like {F}unctions and {C}onstraint {B}ased {P}rogramming},
    year={2013},
    month={Nov},
    pages={5234-5239},
    keywords={collision avoidance;constraint handling;multi-robot systems;redundant manipulators;constraint based programming;dual arm manipulators;moving obstacles;multi-agent control problem;navigation function-like potential fields;obstacle avoidance;priority ordering;redundant manipulators control;unmanned aerial vehicles;Collision avoidance;Convergence;Maintenance engineering;Navigation;Programming;Robots},
    doi={10.1109/IROS.2013.6697113},
    ISSN={2153-0858},}

ArXiv Preprint:

  • [PDF] M. Colledanchise, D. Almeida, and P. Ögren, "Towards Blended Reactive Planning and Acting using Behavior Trees," , vol. abs/1611.00230, 2016.
    [Bibtex]
    @article{ARXIV16Colledanchise,
    author = {Colledanchise, Michele and
    Almeida,Diogo and
    {\"{O}}gren, Petter},
    title = {{Towards Blended Reactive Planning and Acting using Behavior Trees}},
    volume = {abs/1611.00230},
    year = {2016},
    url = {http://arxiv.org/abs/1611.00230},
    timestamp = {Tue, 01 Nov 2016 13:56:55 +0200},
    bibsource = {dblp computer science bibliography, http://dblp.org}
    }
  • [PDF] M. Colledanchise, A. Marzinotto, D. V. Dimarogonas, and P. Ögren, "Adaptive Fault Tolerant Execution of Multi-Robot Missions using Behavior Trees," Corr, vol. abs/1502.02960, 2015.
    [Bibtex]
    @article{ARXIV15Colledanchise,
    author={Colledanchise, Michele and Marzinotto, Alejandro and Dimarogonas, Dimos V. and \"Ogren, Petter},
    title = {{Adaptive Fault Tolerant Execution of Multi-Robot Missions using Behavior
    Trees}},
    journal = {CoRR},
    volume = {abs/1502.02960},
    year = {2015},
    url = {http://arxiv.org/abs/1502.02960},
    timestamp = {Mon, 02 Mar 2015 14:17:34 +0100},
    biburl = {http://dblp.uni-trier.de/rec/bib/journals/corr/ColledanchiseMD15},
    bibsource = {dblp computer science bibliography, http://dblp.org}
    }
  • [PDF] M. Colledanchise, R. Parasuraman, and P. Ögren, "Learning of Behavior Trees for Autonomous Agents," Corr, vol. abs/1504.05811, 2015.
    [Bibtex]
    @article{ARXIV15Colledanchise-2,
    author = {Colledanchise, Michele and
    Parasuraman,Ramviyas and
    {\"{O}}gren, Petter},
    title = {{Learning of Behavior Trees for Autonomous Agents}},
    journal = {CoRR},
    volume = {abs/1504.05811 },
    year = {2015},
    url = {http://arxiv.org/abs/1504.05811},
    }