Behavior Trees with Dataflow: Coordinating Reactive Tasks in Lingua Franca
Authors: 
Alexander Schulz-Rosengarten, Akash Ahmad, Malte Clement, 
Reinhard von Hanxleden, Benjamin Asch, Marten Lohstroh, 
Edward A. Lee, Gustavo Quiros, Ankit ShuklaAuthors Info & Claims
Pages 304 - 305
Abstract
Behavior Trees (BTs) provide a lean set of control flow elements that are easily composable in a modular tree structure. They are well established for modeling the high-level behavior of non-player characters in computer games and recently gained popularity in other areas such as industrial automation.
While BTs nicely express control, data handling aspects so far must be provided separately, e. g. in the form of blackboards. This may hamper reusability and can be a source of nondeterminism.
We here propose a dataflow extension to BTs that explicitly models data relations and communication. We realize and validate that approach in the recently introduced polyglot coordination language Lingua Franca (LF).
References
[1]
Michele Colledanchise and Petter Ögren. 2018. Behavior Trees in Robotics and AI: An Introduction. CRC Press.
[2]
Marten Lohstroh, Christian Menard, Soroush Bateni, and Edward A. Lee. 2021. Toward a Lingua Franca for Deterministic Concurrent Systems. ACM Transactions on Embedded Computing Systems (TECS) 20, 4 (May 2021), Article 36.
[3]
Alejandro Marzinotto, Michele Colledanchise, Christian Smith, and Peter Ögren. 2014. Towards a unified framework for robot control. In 2014 IEEE International Conference on Robotics and Automation (ICRA). 5420--5427.
[4]
Alexander Schulz-Rosengarten, Akash Ahmad, Malte Clement, Reinhard von Hanxleden, Benjamin Asch, Marten Lohstroh, Edward A. Lee, Gustavo Quiros Araya, and Ankit Shukla. 2024. Behavior Trees with Dataflow: Coordinating Reactive Tasks in Lingua Franca.
Index Terms
- Behavior Trees with Dataflow: Coordinating Reactive Tasks in Lingua Franca
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Published In
April 2024
531 pages
ISBN:9798400705021
DOI:10.1145/3639478
- Co-chairs:
- Ana Paiva,
- Rui Abreu,
- Program Co-chairs:
- Abhik Roychoudhury,
- Margaret Storey
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Published: 23 May 2024
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ICSE-Companion '24: 2024 IEEE/ACM 46th International Conference on Software Engineering: Companion Proceedings
April 14 - 20, 2024
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