Behavior Trees in Robotics and AI. An Introduction

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Contents......Page 3 Preface......Page 8 Behavior Trees......Page 11 A SHORT HISTORY AND MOTIVATION OF BTs......Page 12 WHAT IS WRONG WITH FSMs? THE NEED FOR REAC- TIVENESS AND MODULARITY......Page 13 CLASSICAL FORMULATION OF BTs......Page 14 CREATING A BT FOR PAC-MAN FROM SCRATCH......Page 21 CREATING A BT FOR A MOBILE MANIPULATOR ROBOT......Page 23 USE OF BTs IN ROBOTICS AND AI......Page 26 FINITE STATE MACHINES......Page 31 HIERARCHICAL FINITE STATE MACHINES......Page 32 SUBSUMPTION ARCHITECTURE......Page 40 TELEO-REACTIVE PROGRAMS......Page 42 DECISION TREES......Page 43 ADVANTAGES AND DISADVANTAGES OF BEHAVIOR TREES......Page 46 IMPROVING READABILITY USING EXPLICIT SUCCESS CONDITIONS......Page 52 IMPROVING REACTIVITY USING IMPLICIT SEQUENCES......Page 53 IMPROVING SAFETY USING SEQUENCES......Page 54 CREATING DELIBERATIVE BTs USING BACKCHAINING......Page 55 CREATING UN-REACTIVE BTs USING MEMORY NODES......Page 57 CHOOSING THE PROPER GRANULARITY OF A BT......Page 58 PUTTING IT ALL TOGETHER......Page 60 Extensions of Behavior Trees......Page 63 STOCHASTIC BTs......Page 64 TEMPORARY MODIFICATION OF BTs......Page 65 OTHER EXTENSIONS OF BTs......Page 68 STATE-SPACE FORMULATION OF BTs......Page 69 EFFICIENCY AND ROBUSTNESS......Page 72 SAFETY......Page 76 EXAMPLES......Page 79 HOW BTs GENERALIZE DECISION TREES......Page 89 HOW BTs GENERALIZE THE SUBSUMPTION ARCHI- TECTURE......Page 92 HOWBTs GENERALIZE SEQUENTIAL BEHAVIOR COM- POSITIONS......Page 94 HOW BTs GENERALIZE THE TELEO-REACTIVE AP- PROACH......Page 95 Behavior Trees & Automated Planning......Page 98 THE PLANNING AND ACTING (PA-BT) APPROACH......Page 99 PLANNING USING A BEHAVIOR LANGUAGE......Page 132 COMPARISON BETWEEN PA-BT AND ABL......Page 140 GENETIC PROGRAMMING APPLIED TO BTs......Page 141 THE GP-BT APPROACH......Page 143 REINFORCEMENT LEARNING APPLIED TO BTs......Page 152 COMPARISON BETWEEN GP-BT AND RL-BT......Page 155 LEARNING FROM DEMONSTRATION APPLIED TO BTs......Page 156 Stochastic Behavior Trees......Page 157 STOCHASTIC BTs......Page 158 TRANSFORMING A SBT INTO A DTMC......Page 166 RELIABILITY OF A SBT......Page 170 EXAMPLES......Page 175 Concluding Remarks......Page 185 Biblio......Page 187 Index......Page 194