Adding Neural Network Controllers to Behavior Trees without Destroying Performance Guarantees

Sprague, Christopher Iliffe; Ögren, Petter

doi:10.48550/arxiv.1809.10283

Cited by 9 publications

(15 citation statements)

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“…The analysis of robustness, safety and efficiency was continued in [155], where it was shown how a learning subtree, with possibly unreliable performance, could be added while some guarantees of robustness, safety and efficiency could still be given for the overall BT.…”

Section: Fundamental Theorymentioning

confidence: 99%

“…Papers Design Principles [30], [31], [22], [110] Design Tools [7], [149], [115], [59], [123], [124], [125], [168], [167], [102], [9], [33] Hybrid Approaches [128], [105], [155], [86], [139]…”

Section: Type Of Designmentioning

confidence: 99%

“…In [105] hand coded BTs are used alongside the HTN planner. In [155], a BT is manually designed to include a Neural Network Controller. In [86] BTs are manually coded to translate a formalism from the ALC(D) description logic, and in [139], BTs are manually combined with Motion Generators.…”

Section: Manual Design and Other Approachesmentioning

confidence: 99%

See 2 more Smart Citations

A Survey of Behavior Trees in Robotics and AI

Iovino¹,

Scukins²,

Styrud³

et al. 2020

Preprint

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Section: Fundamental Theorymentioning

confidence: 99%

Section: Type Of Designmentioning

confidence: 99%

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A Survey of Behavior Trees in Robotics and AI

Iovino¹,

Scukins²,

Styrud³

et al. 2020

Preprint

Self Cite

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“…Robotics applications of BTs span from manipulation [2]- [4] to non-expert programming [5]- [7]. Other works include task planning [8], human-robot interaction [9]- [11], learning [12]- [15], UAV [16]- [21], multi-robot systems [22]- [25], and system analysis [26]- [28]. The Boston Dynamics's Spot uses BTs to model the robot's mission [29], the Navigation Stack and the task planner of ROS2 uses BTs to encode the high level robot's behavior [30], [31].…”

Section: Introductionmentioning

confidence: 99%

Handling Concurrency in Behavior Trees

Colledanchise,

Natale

2021

Preprint

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This paper addresses the concurrency issues affecting Behavior Trees (BTs), a popular tool to model the behaviors of autonomous agents in the video game and the robotics industry.BT designers can easily build complex behaviors composing simpler ones, which represents a key advantage of BTs. The parallel composition of BTs expresses a way to combine concurrent behaviors that has high potential, since composing pre-existing BTs in parallel results easier than composing in parallel classical control architectures, as finite state machines or teleo-reactive programs. However, BT designers rarely use such composition due to the underlying concurrency problems similar to the ones faced in concurrent programming. As a result, the parallel composition, despite its potential, finds application only in the composition of simple behaviors or where the designer can guarantee the absence of conflicts by design.In this paper, we define two new BT nodes to tackle the concurrency problems in BTs and we show how to exploit them to create predictable behaviors. In addition, we introduce measures to assess execution performance and show how different design choices affect them. We validate our approach in both simulations and the real world. Simulated experiments provide statisticallysignificant data, whereas real-world experiments show the applicability of our method on real robots. We provide an opensource implementation of the novel BT formulation and published all the source code to reproduce the numerical examples and experiments.

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“…They are gaining popularity in robotics because they are highly flexible, reusable, and well suited to define deliberative elements in the model-based design of control architectures. The use of BTs in robotics [1] spans from manipulation [2]- [4] to task planning [5], [6], human-robot interaction [7]- [9] to learning [10], [11], UAVs [12], [13], and system analysis [14]- [16]. Moreover, BTs are used in the Boston Dynamics's Spot SDKs to model the robot's mission [17] and in the Navigation Stack of ROS2 [18].…”

Section: Introductionmentioning

confidence: 99%

Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies

Colledanchise,

Cicala,

Domenichelli

et al. 2021

Preprint

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Our research aims to enable automated property verification of deliberative components in robot control architectures. We focus on a formalization of the execution context of Behavior Trees (BTs) to provide a scalable, yet formally grounded, methodology to enable runtime verification and prevent unexpected robot behaviors to hamper deployment. To this end, we consider a message-passing model that accommodates both synchronous and asynchronous composition of parallel components, in which BTs and other components execute and interact according to the communication patterns commonly adopted in robotic software architectures. We introduce a formal property specification language to encode requirements and build runtime monitors. We performed a set of experiments both on simulations and on the real robot, demonstrating the feasibility of our approach in a realistic application, and its integration in a typical robot software architecture. We also provide an OS-level virtualization environment to reproduce the experiments in the simulated scenario.

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Adding Neural Network Controllers to Behavior Trees without Destroying Performance Guarantees

Cited by 9 publications

References 0 publications

A Survey of Behavior Trees in Robotics and AI

A Survey of Behavior Trees in Robotics and AI

Handling Concurrency in Behavior Trees

Formalizing the Execution Context of Behavior Trees for Runtime Verification of Deliberative Policies

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