Interfacing Behavior Trees with the World Using Description Logic

Klöckner, Andreas

doi:10.2514/6.2013-4636

Cited by 35 publications

(29 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The modularity and structure of BTs were used to address the formal verification of mission plans in [13] and the execution times of stochastic BTs were analyzed in [14]. BTs have also been studied in machine learning applications [7], [8] and details regarding efficient parameter passing was investigated in [9].…”

Section: Introductionmentioning

confidence: 99%

How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees

2017

View full text Add to dashboard Cite

Abstract-Behavior Trees (BTs) is a way of organizing the switching structure of a Hybrid Dynamical System (HDS), that was originally introduced in the computer game programming community.In this paper, we analyze how the BT representation increases the modularity of a HDS, and how key system properties are preserved over compositions of such systems, in terms of combining two BTs into a larger one. We also show how BTs can be seen as a generalization of Sequential Behavior Compositions, the Subsumption Architecture and Decisions Trees. These three tools are powerful, but quite different, and the fact that they are unified in a natural way in BTs might be a reason for their popularity in the gaming community. We conclude the paper by giving a set of examples illustrating how the proposed analysis tools can be applied to robot control BTs.

show abstract

Section: Introductionmentioning

confidence: 99%

How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees

2017

View full text Add to dashboard Cite

show abstract

“…surgical robot [4] and robotic assistants [5]. Scientists touched many aspects of BT, such as a generalization of other CA [6], mathematical model formulation [7], automated BT construction [8], and others. The compherensive introduction to synchronous BT in robotics could be found in [9].…”

Section: Introductionmentioning

confidence: 99%

Asynchronous Behavior Trees with Memory aimed at Aerial Vehicles with Redundancy in Flight Controller

Safronov

Vilzmann

Tsetserukou

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

Complex aircraft systems are becoming a target for automation. For successful operation, they require both efficient and readable mission execution system (MES). Flight control computer (FCC) units, as well as all important subsystems, are often duplicated. Discrete nature of MES does not allow small differences in data flow among redundant FCCs which are acceptable for continuous control algorithms. Therefore, mission state consistency has to be specifically maintained. We present a novel MES which includes FCC state synchronization. To achieve this result we developed the new concept of Asynchronous Behavior Tree with Memory (ABTM) and proposed a state synchronization algorithm. The implemented system was tested and proven to work in a real-time simulation of High Altitude Pseudo Satellite (HAPS) mission.

show abstract

“…The necessary notion of transient tasks is complemented in that paper with an introduction to the processing of basic behavior trees and further discussion of advantages as well as prospects of behavior trees for UAS mission management. A first step towards logical verification and validation of behavior trees is also covered by previous research [9]. Here, the formalism is refined for continuous system simulation.…”

Section: Behavior Treesmentioning

confidence: 99%

The Modelica BehaviorTrees Library: Mission Planning in Continuous-Time for Unmanned Aircraft

Klöckner¹

2014

Linköping Electronic Conference Proceedings

Self Cite

View full text Add to dashboard Cite

The paper introduces a continuous-time architecture and a Modelica library for mission planning based on behavior trees. It allows to study the long-time behavior of complex aircraft models in interaction with reactive mission plans by means of efficient simulations. The developed Modelica library is used in a mission example for a solar high-altitude aircraft and the advantages of the behavior tree formulation in both simulation speed and modularity are discussed. The architecture will further be used to deploy automatically coded mission plans to actual flight computers using the functional mockup interface.

show abstract

Interfacing Behavior Trees with the World Using Description Logic

Cited by 35 publications

References 10 publications

How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees

How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees

Asynchronous Behavior Trees with Memory aimed at Aerial Vehicles with Redundancy in Flight Controller

The Modelica BehaviorTrees Library: Mission Planning in Continuous-Time for Unmanned Aircraft

Contact Info

Product

Resources

About