Traditional robot simulators focus on physical process modeling and realistic rendering, often suffering from high computational costs, inefficiencies, and limited adaptability.To handle this issue, we concentrate on behavior simulation in robotics to analyze and validate the logic behind robot behaviors, aiming to achieve preliminary evaluation before deploying resource-intensive simulators and thus enhance simulation efficiency.In this paper, we propose BeSimulator, a modular and novel LLM-powered framework, as an attempt towards behavior simulation in the context of text-based environments.By constructing text-based virtual environments and performing semantic-level simulation, BeSimulator can generalize across scenarios and achieve long-horizon complex simulation.Inspired by human cognition paradigm, it employs a "consider-decide-capture-transfer" four-phase simulation process, termed Chain of Behavior Simulation (CBS), which excels at analyzing action feasibility and state transition.Additionally, BeSimulator incorporates code-driven reasoning to enable arithmetic operations and enhance reliability, and reflective feedback to refine simulation.Based on our manually constructed behavior-tree-based simulation benchmark, BTSIMBENCH, our experiments show a significant performance improvement in behavior simulation compared to baselines, ranging from 13.60% to 24.80%.

Behavior trees(BTs) provide a systematic and structured control architecture extensively employed in game AI and robotic behavior control, owing to their modularity, reactivity, and reusability. Nonetheless, manual BTs design requires significant expertise and becomes inefficient as task complexity increases. Recent automation technologies have avoided manual work, but often have high application barriers and face challenges in adapting to new tasks, making it difficult to easily configure them to specific requirements. Code-BT introduces a novel approach that utilizes large language models(LLMs) to automatically generate BTs, representing the task planning process as the process of coding and organizing sequences. By retrieving control flow information from the generated code, BTs can be efficiently constructed to address the complexity and diversity of task planning challenges. Rather than relying on manual design, Code-BT uses task instructions to guide the selection of relevant APIs, and then systematically assembles these APIs into modular code to align with the BTs structure. Finally, action sequences and control logic are extracted from the generated code to construct the BTs. Our approach not only ensures the automation of BTs generation but also guarantees the scalability and adaptability for long-term tasks. Experimental results demonstrate that Code-BT substantially improves LLM performance in BTs generation, achieving improvements ranging from16.67% to 29.17%.

Solving the multi-UAV task allocation problem with complex constraints (MTAPCc) by means of the constrained multi-objective evolutionary algorithms (cMOEAs) is novel research in the field of Operation Research. Its advantages mainly consist of two aspects. One is that it can find feasible solutions that satisfy the constraints within an acceptable time. The other is that the obtained Pareto solution set can offer more options for decision-makers. This paper presents a dualneighborhood search based dual-population coevolutionary algorithm (ccDNCA), which can specifically solve the constrained multi-objective combinatorial optimization problems (cMCOPs) based on permutation encoding, including the MTAPCc. The dual-population coevolutionary framework and the multistrategy collaborative constraint handling method of ccDNCA can effectively improve the efficiency of constraint handling and the ability of finding better solutions. The dual-neighborhood alternating local search (DN-ALS) framework can effectively increase the proportion of feasible solutions during the evolution and enhance the quality of the final solution set. The strategy pool integrated with multiple local search strategies can push the search towards regions with better objective values and constraint values, while enhancing the generalization ability of ccDNCA. In the experimental part, by comprehensively comparing the solution results of ccDNCA with those of other advanced algorithms, it is demonstrated that ccDNCA has significant superiority when dealing with cMCOPs based on permutation encoding, such as the MTAPCc and the Vehicle Routing Problem with Time Window constraints (VRPTW).

Unmanned swarms are widespread used in the IoT. The ability of unmanned swarms to achieve adaptive collective behavior in complicated mission scenarios is a prerequisite for meeting mission objectives. However, classical collective behavior models often use the velocity and position of neighbors as inputs to be constructed from a phenomenological perspective. This complicates the construction of unmanned swarms and is incompatible with biological perception. Therefore, this article proposes an observation-orientation-decision-action (OODA) framework for the construction of adaptive collective behavior based on visual perception, inspired by biological collective behavior formations. The model contains no explicit alignment, and no information exchange occurs between individuals. Instead, individuals make decisions based purely on the sight distance corresponding to different relative orientations. Based on adaptability evaluation metrics defined at the collective level, experiments, including coordinated collective motion, single disturbed individual, single external disturbance, narrow passage, and multiple external disturbances scenarios show that the group can respond adaptively to different scenarios with a stable crystal structure while avoiding collisions. In addition to particle simulations, different scenarios provide validation using the Webots robot simulator. As a result, this approach compensates for the inadequacies of existing models and provides technical support for the application of unmanned swarms in various IoT scenarios.