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Electrical Engineering and Systems Science > Systems and Control

arXiv:2308.08994 (eess)
[Submitted on 17 Aug 2023]

Title:An Extended Convergence Result for Behaviour Tree Controllers

Authors:Christopher Iliffe Sprague, Petter Ögren
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Abstract:Behavior trees (BTs) are an optimally modular framework to assemble hierarchical hybrid control policies from a set of low-level control policies using a tree structure. Many robotic tasks are naturally decomposed into a hierarchy of control tasks, and modularity is a well-known tool for handling complexity, therefor behavior trees have garnered widespread usage in the robotics community. In this paper, we study the convergence of BTs, in the sense of reaching a desired part of the state space. Earlier results on BT convergence were often tailored to specific families of BTs, created using different design principles. The results of this paper generalize the earlier results and also include new cases of cyclic switching not covered in the literature.
Comments: Submitted to the IEEE Transactions on Robotics (T-RO)
Subjects: Systems and Control (eess.SY); Artificial Intelligence (cs.AI); Robotics (cs.RO)
Cite as: arXiv:2308.08994 [eess.SY]
  (or arXiv:2308.08994v1 [eess.SY] for this version)
  https://doi.org/10.48550/arXiv.2308.08994

Submission history

From: Christopher Iliffe Sprague [view email]
[v1] Thu, 17 Aug 2023 14:05:45 UTC (9,667 KB)
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