• DOI:10.1109/ICRA.2014.6907328
Corpus ID: 14719083

Performance analysis of stochastic behavior trees

@article{Colledanchise2014PerformanceAO,
  title={Performance analysis of stochastic behavior trees},
  author={Michele Colledanchise and Alejandro Marzinotto and Petter {\"O}gren},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2014},
  pages={3265-3272}
}

Michele Colledanchise, Alejandro Marzinotto, Petter Ögren

Published 2014

Computer Science

2014 IEEE International Conference on Robotics and Automation (ICRA)

This paper presents a mathematical framework for performance analysis of Behavior Trees (BTs. [...] Key Method To do this, we first introduce Stochastic Behavior Trees (SBT), where we assume that the probabilistic performance measures of the basic action controllers are given. We then show how Discrete Time Markov Chains (DTMC) can be used to aggregate these measures from one level of the tree to the next.Expand Abstract

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