1 research outputs found
On the Implementation of Behavior Trees in Robotics
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 robotic software
architecture, and we present a use case example