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Increasing Modularity of UAV Control Systems using Computer Game Behavior Trees
Swedish Defence Research Agency (FOI), Sweden.ORCID iD: 0000-0002-7714-928X
2012 (English)In: AIAA Guidance, Navigation, and Control Conference 2012, 2012Conference paper (Refereed)
Abstract [en]

In this paper, we argue that the modularity, reusability and complexity of Unmanned Aerial Vehicle (UAV) guidance and control systems might be improved by using a Behavior Tree (BT) architecture. BTs are a particular kind of Hybrid Dynamical Systems (HDS), where the state transitions of the HDS are implicitly encoded in a tree structure, instead of explicitly stated in transition maps. In the gaming industry, BTs have gained a lot of interest, and are now replacing HDS in the control architecture of many automated in-game opponents. Below, we explore the relationship between HDS and BTs. We show that any HDS can be written as a BT and that many common UAV control constructs are quite naturally formulated as BTs. Finally, we discuss the positive implications of making the above mentioned state transitions implicit in the BTs.

Place, publisher, year, edition, pages
Keyword [en]
Computer aided software engineering, Forestry, Reusability, Trees (mathematics), Unmanned vehicles
National Category
URN: urn:nbn:se:kth:diva-114054ScopusID: 2-s2.0-84880583246ISBN: 978-160086938-9OAI: diva2:588170
AIAA Guidance, Navigation, and Control Conference 2012; Minneapolis, MN; United States; 13 August 2012 through 16 August 2012

QC 20130522

Available from: 2013-01-15 Created: 2013-01-15 Last updated: 2016-06-09Bibliographically approved

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