Knowledge-based Execution Configuration for Adaptive Behavior Trees

Description

This repository contains the knowledge files supporting the implementation and evaluation of the methods presented in the paper "Knowledge-based Execution Configuration for Adaptive Behavior Trees.", part of the BeAware framework.

The included resources provide essential components to understand and extend the example scenario discussed in the paper, including:

• Behavior Trees (BTs): Templates defining the structure and flow for the example scenario’s adaptive behaviors.

• Ontologies:

  • beaware_ontology.owl: The base ontology to use in the BeAware Framework.

  • application_ontology_example.owl: An instantiated ontology tailored for the specific example scenario.

• PDDL: A Planning Domain Definition Language (PDDL) domain file that formalizes the planning aspects of the example scenario.

Example video

The following video illustrates the execution of two Pick Behaviors, one being the Base Template without Flavors, the other with 5 example Flavors applied.

---

Citation

If you use this work, please cite the paper (currently under review):

@article{RuizCelada2025,
  author    = {Oriol Ruiz-Celada and Jan Rosell and Raúl Suárez},
  title     = {Knowledge-based Execution Configuration for Adaptive Behavior Trees},
  journal   = {<Journal Name>},
  year      = {2025},
  volume    = {<Volume Number>},
  number    = {<Issue Number>},
  pages     = {<Page Range>},
  doi       = {<DOI>},
  url       = {<URL if applicable>},
}

---

Authors

• Oriol Ruiz-Celada (Corresponding Author) Institute of Industrial and Control Engineering
  Universitat Politècnica de Catalunya, Barcelona, Spain
  Email: oriol.ruiz.celada@upc.edu

• Jan Rosell
  Institute of Industrial and Control Engineering
  Universitat Politècnica de Catalunya, Barcelona, Spain
  Email: jan.rosell@upc.edu

• Raúl Suárez
  Institute of Industrial and Control Engineering
  Universitat Politècnica de Catalunya, Barcelona, Spain
  Email: raul.suarez@upc.edu

Correspondence

For any inquiries regarding this repository or the associated paper, please contact the corresponding author: Oriol Ruiz-Celada at oriol.ruiz.celada@upc.edu.