Dynamic Delegation of Behavior Trees to Enhance Cooperation in Robot Teams

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dc.contributor.authorPérez-Rodríguez, Rodrigo
dc.contributor.authorGuerrero Hernández, José Miguel
dc.contributor.authorPeña-Narváez, Juan Diego
dc.contributor.authorMoreno, Francisco Miguel
dc.contributor.authorMartín-Rico, Francisco
dc.date.accessioned2026-02-18T14:36:30Z
dc.date.issued2025-09-03
dc.description.abstractThis research introduces a novel approach to enhance cooperation among robots by collaboratively executing Behavior Trees (BTs). A new node, the DelegateActionNode, allows task delegation as subtrees, while a shared virtual memory (blackboard) enables efficient coordination. This method supports distributed behavior execution, even with potential connectivity loss. Experiments with real robots demonstrate effective virtual memory sharing, robust performance under stress, and 100% success in BT delegation. The approach shows significant potential for advancing multi-robot systems and their cooperative task capabilities.
dc.description.sponsorshipThis work was supported in part by CORESENSE Project through European Union’s Horizon Europe Research and Innovation Program under Grant 101070254, in part by Project iROBOCITY20230-CM, and in part by Project Advanced Task Planning and Navigation for Robotics in the Primary Sector (AURORAS) under Grant PID2024-161761OB-C22
dc.identifier.citationR. Pérez-Rodríguez, J. Miguel Guerrero Hernández, J. Diego Peña-Narvaez, F. Miguel Moreno and F. Martín-Rico, "Dynamic Delegation of Behavior Trees to Enhance Cooperation in Robot Teams," in IEEE Access, vol. 13, pp. 157780-157788, 2025, doi: 10.1109/ACCESS.2025.3605797.
dc.identifier.doi10.1109/ACCESS.2025.3605797
dc.identifier.issn2169-3536
dc.identifier.publicationfirstpage157780
dc.identifier.publicationlastpage157789
dc.identifier.publicationtitleIEEE Access
dc.identifier.publicationvolume13
dc.identifier.urihttps://hdl.handle.net/10115/170577
dc.language.isoen
dc.publisherIEEE
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internationalen
dc.rights.accessRightsinfo:eu-repo/semantics/openAccess
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectBehavior trees
dc.subjecttask delegation
dc.subjectrobotics
dc.subjectcooperating robots
dc.subjectdistributed robot systems
dc.titleDynamic Delegation of Behavior Trees to Enhance Cooperation in Robot Teams
dc.typeArticle
dc.type.hasVersionhttp://purl.org/coar/version/c_970fb48d4fbd8a85

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