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

Klöckner, Andreas

doi:10.3384/ecp14096727

Cited by 11 publications

(14 citation statements)

References 7 publications

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“…BTs have also been studied in machine learning applications [7], [8] and details regarding efficient parameter passing was investigated in [9]. Finally, a Modellica implementation of BTs was presented in [18].…”

Section: Introductionmentioning

confidence: 99%

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

2017

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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.

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Section: Introductionmentioning

confidence: 99%

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

2017

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“…One of the recent topics in this area is asynchronous (or event-driven) BT, which are deviant from classical synchronous BT formulation. It was shown that asynchronous BT outperforms synchronous in continuous-time mission simulation [10]. Being flexible and reactive, behavior trees frequently require sort of inner memory, e.g., for a way-point missions.…”

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)

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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.

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“…1: Simple tasks can be connected hierarchically in a behavior tree in order to describe the energy harvesting strategy of a solar-powered aircraft. See [7].…”

Section: Behavior Treesmentioning

confidence: 99%

“…The behavior tree is built using the Modelica BehaviorTrees library [7]. The library provides a generic framework to graphically compose behavior trees (see Fig.…”

Section: Behavior Trees In Mission Managementmentioning

confidence: 99%

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Behavior Trees with Stateful Tasks

Klöckner

2015

Advances in Aerospace Guidance, Navigation and Control

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The behavior tree formalism as introduced recently to the application of mission management of unmanned aerial vehicles does provide for internal memory of mission plans. This is an important drawback for even simple plans such as waypoint sequences, because the information about visited waypoints must be stored outside of the plan execution engine. In this paper, two approaches are presented in order to provide tasks with states inside behavior trees: The first allows to embed regular state machines in a specialized behavior tree task. The second provides new memory and reset tasks in order to store information directly in the tree. Both approaches are shown to solve the waypoint following plan and promise to be applicable to a much broader range of mission management problems.

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

Cited by 11 publications

References 7 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

Behavior Trees with Stateful Tasks

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