Execution Semantics of Behavior Trees in Robotic Applications
Fuente:
arXiv
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866909574100942848 |
|---|---|
| author | Ghiorzi, Enrico Henkel, Christian Palmas, Matteo Klauck, Michaela Tacchella, Armando |
| author_facet | Ghiorzi, Enrico Henkel, Christian Palmas, Matteo Klauck, Michaela Tacchella, Armando |
| contents | Behavior Trees (BTs) have found a widespread adoption in robotics due to appealing features, their ease of use as a conceptual model of control policies and the availability of software tooling for BT-based design of control software. However, BTs don't have formal execution semantics and, furthermore, subtle differences among implementations can make the same model behave differently depending on the underlying software. This paper aims at defining the execution semantics of behavior trees (BTs) as used in robotics applications. To this purpose, we present an abstract data type that formalizes the structure and execution of BTs. While our formalization is inspired by existing contributions in the scientific literature and state-of-the art implementations, we strive to provide an unambiguous treatment of most features that find incomplete or inconsistent treatment across other works. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_00090 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Execution Semantics of Behavior Trees in Robotic Applications Ghiorzi, Enrico Henkel, Christian Palmas, Matteo Klauck, Michaela Tacchella, Armando Robotics Artificial Intelligence 68T30 I.2.4 Behavior Trees (BTs) have found a widespread adoption in robotics due to appealing features, their ease of use as a conceptual model of control policies and the availability of software tooling for BT-based design of control software. However, BTs don't have formal execution semantics and, furthermore, subtle differences among implementations can make the same model behave differently depending on the underlying software. This paper aims at defining the execution semantics of behavior trees (BTs) as used in robotics applications. To this purpose, we present an abstract data type that formalizes the structure and execution of BTs. While our formalization is inspired by existing contributions in the scientific literature and state-of-the art implementations, we strive to provide an unambiguous treatment of most features that find incomplete or inconsistent treatment across other works. |
| title | Execution Semantics of Behavior Trees in Robotic Applications |
| topic | Robotics Artificial Intelligence 68T30 I.2.4 |
| url | https://arxiv.org/abs/2408.00090 |