On the Implementation of Behavior Trees in Robotics

Abstract

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.

References in corpus (2)

• Software Architectures for Robotics Systems: A Systematic Mapping Study
• Behavior Trees in Action: A Study of Robotics Applications

Cited by in corpus (8)

• Behavior Trees and State Machines in Robotics Applications
• Behavior Trees in Robot Control Systems
• LLM-BT: Performing Robotic Adaptive Tasks based on Large Language Models and Behavior Trees
• Handling Concurrency in Behavior Trees
• YASMIN: Yet Another State MachINe library for ROS 2
• Towards Dependable Autonomous Systems Based on Bayesian Deep Learning Components
• Distributed Behavior Trees for Heterogeneous Robot Teams
• Behavior Tree Capabilities for Dynamic Multi-Robot Task Allocation with Heterogeneous Robot Teams