Reconfigurable Behavior Trees: Towards an Executive Framework Meeting High-level Decision Making and Control Layer Features

Cruz, Pilar de la; Piater, Justus; Saveriano, Matteo

doi:10.1109/smc42975.2020.9282817

Cited by 10 publications

(1 citation statement)

References 34 publications

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“…The use of BTs in robotics spans from manipulation [5], [14]- [16] to non-expert programming [8]- [10]. Other works include task planning [17], human-robot interaction [18]- [20], learning [21]- [23], multirobot systems [24]- [27], and system analysis [28], [29]. The Boston Dynamics' Spot SDK uses BTs to model the robot's mission [30]; the Navigation Stack of ROS2 and the one of NVIDIA SDK encode robot behaviors as BTs [31].…”

Section: Introductionmentioning

confidence: 99%

On the Implementation of Behavior Trees in Robotics

Colledanchise,

Natale

2021

Preprint

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There is a growing interest in Behavior Trees (BTs) as a tool to describe and implement robot behaviors. BTs were devised in the video game industry and their adoption in robotics resulted in the development of ad-hoc libraries to design and execute BTs that fit complex robotics software architectures.While there is broad consensus on how BTs work, some characteristics rely on the implementation choices done in the specific software library used.In this letter, we outline practical aspects in the adoption of BTs and the solutions devised by the robotics community to fully exploit the advantages of BTs in real robots. We also overview the solutions proposed in open-source libraries used in robotics, we show how BTs fit in a robotic software architecture, and we present a use case example.

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Section: Introductionmentioning

confidence: 99%

On the Implementation of Behavior Trees in Robotics

Colledanchise,

Natale

2021

Preprint

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Evaluating behavior trees

Gugliermo,

Cáceres Domínguez,

Iannotta

et al. 2024

Robotics and Autonomous Systems

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Robotics goes PRISMA

Selvaggio,

Moccia,

Arpenti

et al. 2024

Robotica

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In this article, we review the main results achieved by the research activities carried out at PRISMA Lab of the University of Naples Federico II where, for 35 years, an interdisciplinary team of experts developed robots that are ultimately useful to humans. We summarize the key contributions made in the last decade in the six research areas of dynamic manipulation and locomotion, aerial robotics, human-robot interaction, artificial intelligence and cognitive robotics, industrial robotics, and medical robotics. After a brief overview of each research field, the most significant methodologies and results are reported and discussed, highlighting their cross-disciplinary and translational aspects. Finally, the potential future research directions identified are discussed.

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Reconfigurable Behavior Trees: Towards an Executive Framework Meeting High-level Decision Making and Control Layer Features

Cited by 10 publications

References 34 publications

On the Implementation of Behavior Trees in Robotics

On the Implementation of Behavior Trees in Robotics

Evaluating behavior trees

Robotics goes PRISMA

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