Behavior Trees vs Executable Ontologies: a Comparative Analysis of Robot Control Paradigms
Fuente:
arXiv
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866915626759487488 |
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| author | Boldachev, Alexander |
| author_facet | Boldachev, Alexander |
| contents | This paper compares two distinct approaches to modeling robotic behavior: imperative Behavior Trees (BTs) and declarative Executable Ontologies (EO), implemented through the boldsea framework. BTs structure behavior hierarchically using control-flow, whereas EO represents the domain as a temporal, event-based semantic graph driven by dataflow rules. We demonstrate that EO achieves comparable reactivity and modularity to BTs through a fundamentally different architecture: replacing polling-based tick execution with event-driven state propagation. We propose that EO offers an alternative framework, moving from procedural programming to semantic domain modeling, to address the semantic-process gap in traditional robotic control. EO supports runtime model modification, full temporal traceability, and a unified representation of data, logic, and interface - features that are difficult or sometimes impossible to achieve with BTs, although BTs excel in established, predictable scenarios. The comparison is grounded in a practical mobile manipulation task. This comparison highlights the respective operational strengths of each approach in dynamic, evolving robotic systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_15274 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Behavior Trees vs Executable Ontologies: a Comparative Analysis of Robot Control Paradigms Boldachev, Alexander Robotics Artificial Intelligence Formal Languages and Automata Theory This paper compares two distinct approaches to modeling robotic behavior: imperative Behavior Trees (BTs) and declarative Executable Ontologies (EO), implemented through the boldsea framework. BTs structure behavior hierarchically using control-flow, whereas EO represents the domain as a temporal, event-based semantic graph driven by dataflow rules. We demonstrate that EO achieves comparable reactivity and modularity to BTs through a fundamentally different architecture: replacing polling-based tick execution with event-driven state propagation. We propose that EO offers an alternative framework, moving from procedural programming to semantic domain modeling, to address the semantic-process gap in traditional robotic control. EO supports runtime model modification, full temporal traceability, and a unified representation of data, logic, and interface - features that are difficult or sometimes impossible to achieve with BTs, although BTs excel in established, predictable scenarios. The comparison is grounded in a practical mobile manipulation task. This comparison highlights the respective operational strengths of each approach in dynamic, evolving robotic systems. |
| title | Behavior Trees vs Executable Ontologies: a Comparative Analysis of Robot Control Paradigms |
| topic | Robotics Artificial Intelligence Formal Languages and Automata Theory |
| url | https://arxiv.org/abs/2511.15274 |