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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2503.16969 |
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| _version_ | 1866916659008110592 |
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| author | Ghzouli, Razan Wohlrab, Rebekka Horkoff, Jennifer |
| author_facet | Ghzouli, Razan Wohlrab, Rebekka Horkoff, Jennifer |
| contents | Context and motivation: In recent years, behavior trees have gained growing interest within the robotics community as a specification and control switching mechanism for the different tasks that form a robotics mission. Problem: Given the rising complexity and prevalence of robotic systems, it is increasingly challenging and important for practitioners to design high-quality missions that meet certain qualities, for instance, to consider potential failures or mitigate safety risks. In software requirements engineering, quality or non-functional requirements have long been recognized as a key factor in system success. Currently, qualities are not represented in behavior tree models, which capture a robotic mission, making it difficult to assess the extent to which different mission components comply with those qualities. Principal ideas: In this paper, we propose an extension for behavior trees to have qualities and quality requirements explicitly represented in robotics missions. We provide a meta-model for the extension, develop a domain-specific language (DSL), and describe how we integrated our DSL in one of the most used languages in robotics for developing behavior trees, BehaviorTree.CPP. A preliminary evaluation of the implemented DSL shows promising results for the feasibility of our approach and the need for similar DSLs. Contribution: Our approach paves the way for incorporating qualities into the behavior model of robotics missions. This promotes early expression of qualities in robotics missions, and a better overview of missions components and their contribution to the satisfaction of quality concerns. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_16969 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Extending Behavior Trees for Robotic Missions with Quality Requirements Ghzouli, Razan Wohlrab, Rebekka Horkoff, Jennifer Software Engineering Robotics Context and motivation: In recent years, behavior trees have gained growing interest within the robotics community as a specification and control switching mechanism for the different tasks that form a robotics mission. Problem: Given the rising complexity and prevalence of robotic systems, it is increasingly challenging and important for practitioners to design high-quality missions that meet certain qualities, for instance, to consider potential failures or mitigate safety risks. In software requirements engineering, quality or non-functional requirements have long been recognized as a key factor in system success. Currently, qualities are not represented in behavior tree models, which capture a robotic mission, making it difficult to assess the extent to which different mission components comply with those qualities. Principal ideas: In this paper, we propose an extension for behavior trees to have qualities and quality requirements explicitly represented in robotics missions. We provide a meta-model for the extension, develop a domain-specific language (DSL), and describe how we integrated our DSL in one of the most used languages in robotics for developing behavior trees, BehaviorTree.CPP. A preliminary evaluation of the implemented DSL shows promising results for the feasibility of our approach and the need for similar DSLs. Contribution: Our approach paves the way for incorporating qualities into the behavior model of robotics missions. This promotes early expression of qualities in robotics missions, and a better overview of missions components and their contribution to the satisfaction of quality concerns. |
| title | Extending Behavior Trees for Robotic Missions with Quality Requirements |
| topic | Software Engineering Robotics |
| url | https://arxiv.org/abs/2503.16969 |