Continuous-Time Behavior Trees as Discontinuous Dynamical Systems

Behavior trees represent a hierarchical and modular way of combining several low-level control policies into high-level task-switching policy. Hybrid dynamical systems can also be seen in terms task switching between different policies, therefore comparisons behavior hybrid have been made, but only informally, discrete time. A formal continuous-time formulation has lacking. Additionally, convergence analyses specific classes tree designs not for general designs. In this letter, we provide the first trees, show that they as discontinuous (a subclass systems), which enables application existence uniqueness results to finally, sufficient conditions under such will converge desired region state space With these results, large body on brought use when designing controllers.