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How Behavior Trees Generalize the Teleo-Reactive Paradigm and And-Or-Trees
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-7714-928X
2016 (English)Conference paper (Refereed)
Abstract [en]

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 robotics. The Teleo-Reactive programs (TRs) is a highly cited reactive hierarchical robot control approach suggested by Nilsson and And-Or-Trees are trees used for heuristic problems solving. In this paper, we show that BTs generalize TRs as well as And-Or-Trees, even though the two concepts are quite different. And-Or-Trees are trees of conditions, and we show that they transform into a feedback execution plan when written as a BT. TRs are hierarchical control structures, and we show how every TR can be written as a BT. Furthermore, we show that so-called Universal TRs, guaranteeing that the goal will be reached, are a special case of so-called Finite Time Successful BTs. This implies that many designs and theoretical results developed for TRs can be applied to BTs

Place, publisher, year, edition, pages
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-194179OAI: diva2:1038488
Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, 2016

QC 20161019

Available from: 2016-10-18 Created: 2016-10-18 Last updated: 2016-11-22Bibliographically approved

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