Behavior Trees for Robust Task Level Control in Robotic Applications

Abstract

Behavior Trees are a task switching policy representation that can grant reactiveness and fault tolerance. Moreover, because of their structure and modularity, a variety of methods can be used to generate them automatically. In this short paper we introduce Behavior Trees in the context of robotic applications, with overview of autonomous synthesis methods.

Accepted to the Workshop on Development and Design Pipelines - From first ideas to well-functioning robots, at the 2022 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022) November 28-30, Ginowan, Okinawa, Japan