Three-layer deterministic safety & ethical execution guard for autonomous robots (ROS 2 & Behavior Trees). Sub-ms physical reflex (QERRA-HSR) + moral filter (SEMEV-12) + values ranker (THRIVE). Fully auditable.
Autonomous warehouse delivery rover in ROS 2 Humble: Nav2/MPPI navigation, YOLO perception, and a py_trees behaviour tree that recovers when the cargo isn't there.
Full-stack ROS 2 autonomous navigation: Nav2, SLAM Toolbox, RTAB-Map & ORB-SLAM3 VSLAM, Gazebo Harmonic, Docker, multi-robot fleet coordination, collaborative loop closure, coordinated frontier exploration, MPPI controller, behavior trees, waypoint following & Gaussian Splatting capture on Humble/Jazzy.
The specification, reference runtimes, validator, LLM bridge, and conformance suite for URML — an open language for robot intent.
Autonomous palletizing cell in ROS 2 Jazzy + Gazebo Harmonic: UR10e, RGB-D measurement of unknown cartons and pallets, interlocked layer patterns, MoveIt 2 pick & place, BehaviorTree.CPP
Behavior trees, computational geometry & multi-agent motion planning — Dubins/Reeds-Shepp curves, RRT*, deadlock-aware coordination
A Python library offering a Behavior Tree implementation which focuses on contingency handling - the key to master complex applications which operate in dynamic worlds.
A package for Grammatical Evolution and other Agent-Base Modeling (ABM) experiments.
AI gameplay patterns for Godot: LLM-driven NPCs, behavior trees, Python bridge, local Ollama
🤖 Advanced multi-agent robotics system using ROS2, NVIDIA Isaac Sim, behavior trees, and RL locomotion controllers. Features mobile manipulator, forklift, and Spot robot with autonomous navigation and manipulation. Graduation Project 2025.
A skill-based platform for ROS v.2 with knowledge representating, planning and reasoning
REactive Behavior Constraint-Aware Tree learning (REBCAT) - a human-robot collaboration framework to learn task from demonstrations. Interpretable, fast, object-centric, and reactive.
a React-inspired incremental behaviour tree library
ROS 2 bringup package for the Caltech M4 morphobot — launch files, configs and behavior trees
autonomous mobile robot system for item retrieval within a simulated environment | demonstrates an integrated approach to autonomous exploration, obstacle avoidance, item detection, retrieval, and efficient navigation back to a home zone
Very basic behavior tree framework for Python
MSc thesis: LLM-generated behaviour trees for robot task planning — natural-language commands to pick-and-place control of an ABB IRB 4600 in CoppeliaSim.
Behaviour trees in Python made easy!
UCSC - CMPM 146 - Game AI - Python
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