2020
DOI: 10.48550/arxiv.2007.10663
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Reconfigurable Behavior Trees: Towards an Executive Framework Meeting High-level Decision Making and Control Layer Features

Abstract: Behavior Trees (BTs) constitute a widespread artificial intelligence tool that has been successfully adopted in robotics. Their advantages include simplicity, modularity, and reusability of code. However, Behavior Trees remain a highlevel decision making engine; control features cannot easily be integrated. This paper proposes Reconfigurable Behavior Trees (RBTs), an extension of the traditional BTs that incorporates sensed information coming from the robotic environment in the decision making process. We endo… Show more

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