Abstract Behavior Trees (BTs) were invented as a tool to enable modular AI in computer games, but have received an increasing amount of attention in the robotics community in the …
Behavior trees (BTs) are a way of organizing the switching structure of a hybrid dynamical system (HDS), which was originally introduced in the computer game programming …
Autonomous robots combine a variety of skills to form increasingly complex behaviors called missions. While the skills are often programmed at a relatively low level of abstraction, their …
Behavior Trees (BTs) have become a popular framework for designing controllers of in- game opponents in the computer gaming industry. In this paper, we formalize and analyze …
In this letter, we provide a formal framework for comparing the expressive power of Behavior Trees (BTs) to other action selection architectures. Taking inspiration from the analogous …
Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities when …
This paper presents a mathematical framework for performance analysis of Behavior Trees (BTs). BTs are a recent alternative to Finite State Machines (FSMs), for doing modular task …
Abstract Behavior Trees (BTs) are a formalism increasingly used to control the execution of robotic systems. The strength of BTs resides in their compact, hierarchical and transparent …
Behavior Trees (BTs) is a way of organizing the switching structure of a control system, that was originally developed in the computer gaming industry but is now also being used in …