Node Templates to improve Reusability and Modularity of Behavior Trees
Robotics
2020-02-11 v1
Abstract
Behavior Trees (BTs) got the robotics society attention not least thanks to their modularity and reusability. The subtrees of BTs could be treated as separate behaviors and therefore reused. We address the following research question: do we exploit the full power of BT on these properties? We suggest to generalise the idea of subtree reuse to "node templates" concept, which allows to represent an arbitrary nodes collection. In addition, previously hardcoded behaviors such as Node* and many Decorator nodes could be implemented in a memory-based BT by node templates.
Keywords
Cite
@article{arxiv.2002.03167,
title = {Node Templates to improve Reusability and Modularity of Behavior Trees},
author = {Evgenii Safronov},
journal= {arXiv preprint arXiv:2002.03167},
year = {2020}
}
Comments
Presented at Behavior Trees for Robotics Systems (IROS 2019 Workshop)