APTree: Extended Behavior Trees for Adaptive and Scalable Automated Robotic Task Planning in Construction
Task planning for robots in off-site construction prefabrication is primarily manual, leading to planning inefficiencies and reluctance to adopt robotic solutions. Existing approaches provide limited support for scalable, modular automated task planning and localized runtime replanning. This paper proposes APTree, a model-driven framework that integrates automated task planning with modular task execution using behavior trees as the execution model. APTree repeatedly applies and coordinates heterogeneous symbolic planners to automatically generate and compose modular task plans at runtime. To support this approach, we develop a domain-specific language for the formal specification and val...
| Authors | Shermin Sherkat, Thomas Wortmann, Andreas Wortmann |
|---|---|
| Primary category | cs.RO |
| Published | 13 October 2026 |
| Last updated at source | 13 October 2026 |
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