{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,5]],"date-time":"2025-11-05T06:56:26Z","timestamp":1762325786947,"version":"build-2065373602"},"reference-count":39,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2023,12,16]],"date-time":"2023-12-16T00:00:00Z","timestamp":1702684800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Foundation for Science and Technology","award":["UIDB\\50022\\2020","BD\\6841\\2020","101091933"],"award-info":[{"award-number":["UIDB\\50022\\2020","BD\\6841\\2020","101091933"]}]},{"name":"European Union\u2019s Horizon 2020 programme","award":["UIDB\\50022\\2020","BD\\6841\\2020","101091933"],"award-info":[{"award-number":["UIDB\\50022\\2020","BD\\6841\\2020","101091933"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Robotic systems are increasingly present in dynamic environments. This paper proposes a hierarchical control structure wherein a behavior tree (BT) is used to improve the flexibility and adaptability of an omni-directional mobile robot for point stabilization. Flexibility and adaptability are crucial at each level of the sense\u2013plan\u2013act loop to implement robust and effective robotic solutions in dynamic environments. The proposed BT combines high-level decision making and continuous execution monitoring while applying non-linear model predictive control (NMPC) for the point stabilization of an omni-directional mobile robot. The proposed control architecture can guide the mobile robot to any configuration within the workspace while satisfying state constraints (e.g., obstacle avoidance) and input constraints (e.g., motor limits). The effectiveness of the controller was validated through a set of realistic simulation scenarios and experiments in a real environment, where an industrial omni-directional mobile robot performed a point stabilization task with obstacle avoidance in a workspace.<\/jats:p>","DOI":"10.3390\/robotics12060170","type":"journal-article","created":{"date-parts":[[2023,12,18]],"date-time":"2023-12-18T03:59:24Z","timestamp":1702871964000},"page":"170","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A Novel Control Architecture Based on Behavior Trees for an Omni-Directional Mobile Robot"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4642-1209","authenticated-orcid":false,"given":"Rodrigo","family":"Bernardo","sequence":"first","affiliation":[{"name":"IDMEC, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa, Portugal"},{"name":"IDMEC, Instituto Polit\u00e9cnico de Castelo Branco, Av. do Empres\u00e1rio, Campus da Talagueira, Zona do Lazer, 6000-767 Castelo Branco, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8030-4746","authenticated-orcid":false,"given":"Jo\u00e3o M. C.","family":"Sousa","sequence":"additional","affiliation":[{"name":"IDMEC, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa, Portugal"}]},{"given":"Miguel Ayala","family":"Botto","sequence":"additional","affiliation":[{"name":"IDMEC, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8692-7338","authenticated-orcid":false,"given":"Paulo J. S.","family":"Gon\u00e7alves","sequence":"additional","affiliation":[{"name":"IDMEC, Instituto Polit\u00e9cnico de Castelo Branco, Av. do Empres\u00e1rio, Campus da Talagueira, Zona do Lazer, 6000-767 Castelo Branco, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2023,12,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"339","DOI":"10.1016\/j.jmsy.2022.09.014","article-title":"Survey on robotic systems for internal logistics","volume":"65","author":"Bernardo","year":"2022","journal-title":"J. Manuf. 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