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How Behavior Trees Modularize Robustness and Safety in Hybrid Systems
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-0289-7424
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-7714-928X
2014 (English)In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2014), IEEE , 2014, 1482-1488 p.Conference paper, Published paper (Refereed)
Abstract [en]

Behavior Trees (BTs) have become a popular framework for designing controllers of in-game opponents in the computer gaming industry. In this paper, we formalize and analyze the reasons behind the success of the BTs using standard tools of robot control theory, focusing on how properties such as robustness and safety are addressed in a modular way. In particular, we show how these key properties can be traced back to the ideas of subsumption and sequential compositions of robot behaviors. Thus BTs can be seen as a recent addition to a long research effort towards increasing modularity, robustness and safety of robot control software. To illustrate the use of BTs, we provide a set of solutions to example problems.

Place, publisher, year, edition, pages
IEEE , 2014. 1482-1488 p.
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keyword [en]
Computer games, Forestry, Hybrid systems, Intelligent robots, Robots, Behavior trees, Computer gaming, Research efforts, Robot behavior, Robot control software, Sequential compositions, Standard tools
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-163506DOI: 10.1109/IROS.2014.6942752ISI: 000349834601086Scopus ID: 2-s2.0-84911478454ISBN: 978-1-4799-6934-0 (print)OAI: oai:DiVA.org:kth-163506DiVA: diva2:801014
Conference
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Palmer House Hilton Hotel Chicago, United States, 14 September 2014 through 18 September 2014
Note

QC 20150408

Available from: 2015-04-08 Created: 2015-04-07 Last updated: 2015-04-08Bibliographically approved

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Ögren, Petter

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