Abstract Behavior Trees (BTs) were invented as a tool to enable modular AI in computer
games, but have received an increasing amount of attention in the robotics community in the …

Behavior Trees (BTs) provide a way to structure the behavior of an artificial agent such as a
robot or a non-player character in a computer game. Traditional design methods, such as …

Behavior trees (BTs) are a way of organizing the switching structure of a hybrid dynamical
system (HDS), which was originally introduced in the computer game programming …

Autonomous robots combine a variety of skills to form increasingly complex behaviors called
missions. While the skills are often programmed at a relatively low level of abstraction, their …

Behavior Trees (BTs) have become a popular framework for designing controllers of in-
game opponents in the computer gaming industry. In this paper, we formalize and analyze …

In this letter, we provide a formal framework for comparing the expressive power of Behavior
Trees (BTs) to other action selection architectures. Taking inspiration from the analogous …

This paper presents a mathematical framework for performance analysis of Behavior Trees
(BTs). BTs are a recent alternative to Finite State Machines (FSMs), for doing modular task …

Multi-robot teams offer possibilities of improved performance and fault tolerance, compared
to single robot solutions. In this paper, we show how to realize those possibilities when …

Behavior Trees (BTs) is a way of organizing the switching structure of a control system, that
was originally developed in the computer gaming industry but is now also being used in …

As complex autonomous robotic systems become more widespread, the need for
transparent and reusable Artificial Intelligence (AI) designs becomes more apparent. In this …