How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees
@article{Colledanchise2017HowBT,
title={How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees},
author={Michele Colledanchise and Petter {\"O}gren},
journal={IEEE Transactions on Robotics},
year={2017},
volume={33},
pages={372-389}
}Behavior trees (BTs) are a way of organizing the switching structure of a hybrid dynamical system (HDS), which was originally introduced in the computer game programming community. In this paper, we analyze how the BT representation increases the modularity of an HDS and how key system properties are preserved over compositions of such systems, in terms of combining two BTs into a larger one. We also show how BTs can be seen as a generalization of sequential behavior compositions, the… CONTINUE READING
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