Behavior Trees for Robust Task Level Control in Robotic Applications

01/16/2023

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by   Matteo Iovino, et al.

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Behavior Trees are a task switching policy representation that can grant reactiveness and fault tolerance. Moreover, because of their structure and modularity, a variety of methods can be used to generate them automatically. In this short paper we introduce Behavior Trees in the context of robotic applications, with overview of autonomous synthesis methods.