How Behavior Trees Generalize the Teleo-Reactive Paradigm and And-Or-Trees
2016 (English)Conference paper (Refereed)
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
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-194179ISI: 000391921700063ScopusID: 2-s2.0-85006371530OAI: oai:DiVA.org:kth-194179DiVA: diva2:1038488
Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, 2016
QC 201610192016-10-182016-10-182017-03-07Bibliographically approved