Behavior Trees in Robotics and AI: An Introduction
@article{Colledanchise2017BehaviorTI,
title={Behavior Trees in Robotics and AI: An Introduction},
author={Michele Colledanchise and Petter {\"O}gren},
journal={ArXiv},
year={2017},
volume={abs/1709.00084}
}Behavior Trees (BTs) provide a way to structure the behavior of an artificial agent such as a robot or a non-player character in a computer game. Traditional design methods, such as finite state m ...
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159 Citations
Behavior trees in action: a study of robotics applications
- Computer ScienceSLE
- 2020
It is found that Behavior Trees are a pragmatic language, not fully specified, allowing projects to extend it even for just one model, and contributes a dataset of real-world behavior models, hoping to inspire the community to use and further develop this language, associated tools, and analysis techniques.
On the Implementation of Behavior Trees in Robotics
- Computer ScienceIEEE Robotics and Automation Letters
- 2021
Practical aspects in the adoption of BTs are outlined, the solutions proposed in open-source libraries used in robotics are overviewed, and how BTs fit in a robotic software architecture is shown.
Learning Behavior Trees with Genetic Programming in Unpredictable Environments
- Computer Science, Biology2021 IEEE International Conference on Robotics and Automation (ICRA)
- 2021
It is shown that genetic programming can be effectively used to learn the structure of a behavior tree to solve a robotic task in an unpredictable environment, and that the learned BTs can solve the same task in a realistic simulator, converging without the need for task specific heuristics.
Behavior Trees as a Control Architecture in the Automatic Modular Design of Robot Swarms
- Computer ScienceANTS Conference
- 2018
Previous research has shown that automatically combining low-level behaviors into a probabilistic finite state machine produces control software that crosses the reality gap satisfactorily. In this…
Learning of Behavior Trees for Autonomous Agents
- Computer ScienceIEEE Transactions on Games
- 2019
The proposed algorithm incrementally learns a switching structure, in terms of a BT, that is able to handle the situations encountered and uses the and–or analogy to limit the size of the resulting structure.
Improving the Parallel Execution of Behavior Trees
- Computer Science2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- 2018
This paper outlines how to tackle the aforementioned problem by introducing Concurrent BTs (CBTs) as a generalization of BTs in which the notions of progress and resource usage are included.
A Behavior Tree Designing Tool for Online Evaluation
- Computer ScienceIECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society
- 2020
A novel tool for BTs design is presented that allows to create BTs and also to evaluate then without any external software, making it easy to check all possible behaviors during the design stage.
A principled analysis of Behavior Trees and their generalisations
- Computer ScienceArXiv
- 2020
This paper analyzes how the principles behind Behavior Trees, an increasingly popular tree-structured control architecture, are applicable to the goals of transparent and reusable Artificial Intelligence (AI), and introduces a new class of control architectures called generalised BTs and shows how they can extend the applicability of BTs to some of the aforementioned challenging BT use-cases while preserving the BT principles.
Towards Blended Reactive Planning and Acting using Behavior Trees
- Computer Science2019 International Conference on Robotics and Automation (ICRA)
- 2019
How a planning algorithm can be used to automatically create and update a Behavior Tree (BT), controlling a robot in a dynamic environment, based on the idea of back chaining is shown.
BT Expansion: a Sound and Complete Algorithm for Behavior Planning of Intelligent Robots with Behavior Trees
- Computer ScienceAAAI
- 2021
BT expansion is proposed, an automated planning approach to building intelligent robot behaviors with BTs are proposed, and the state-space formulation of BTs is leveraged for the first time to synthesize BTs with a complete theoretical basis.
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The proposed algorithm incrementally learns a switching structure, in terms of a BT, that is able to handle the situations encountered and uses the and–or analogy to limit the size of the resulting structure.
Towards Blended Reactive Planning and Acting using Behavior Trees
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