Towards a Unified Behavior Tree Framework for Robot Control
نویسندگان
چکیده
Behavior Trees (BTs) are a plan representation and execution tool which has recently started to draw the attention of the robotics community. The available literature lack consistency and mathematical rigor required for control applications. This paper presents a unified formalism for BTs which elevates them to the same standard as other well known plan execution tools. We approach the problem in two steps: first, reviewing the most popular BT literature exposing the aforementioned problems; second, describing our unified BT framework along with equivalence notions between BTs and Controlled Hybrid Dynamical Systems (CHDSs). This paper improves on the existing state of the art as it describes BTs in a more accurate and compact way. We also present an experimental evaluation using a NAO robot and our BT library.
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