Abstract:In this paper we will give a control theoretic perspective on the research area of behavior trees in robotics. The key idea underlying behavior trees is to make use of modularity, hierarchies and feedback, in order to handle the complexity of a versatile robot control system. Modularity is a well-known tool to handle software complexity by enabling development, debugging and extension of separate modules without having detailed knowledge of the entire system. A hierarchy of such modules is natural, since robot… Show more
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