| Description |
1 online resource (176 pages) |
| Series |
Chapman and Hall/CRC Artificial Intelligence and Robotics Ser |
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Chapman and Hall/CRC Artificial Intelligence and Robotics Ser
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| Contents |
Intro; Halftitle page; Title page; Copyright; Table of Contents; Preface; 1 What Are Behavior Trees?; 1.1 A Short History and Motivation of BTs; 1.2 What is wrong with FSMs? The Need for Reactiveness and Modularity; 1.3 Classical Formulation of BTs; 1.3.1 Execution example of a BT; 1.3.2 Control flow nodes with memory; 1.4 Creating a BT for Pac-Man from Scratch; 1.5 Creating a BT for a Mobile Manipulator Robot; 1.6 Use of BTs in Robotics and AI; 1.6.1 BTs in autonomous vehicles; 1.6.2 BTs in industrial robotics; 1.6.3 BTs in the Amazon picking challenge; 1.6.4 BTs inside the social robot JIBO |
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2 How Behavior Trees Generalize and Relate to Earlier Ideas2.1 Finite State Machines; 2.1.1 Advantages and disadvantages; 2.2 Hierarchical Finite State Machines; 2.2.1 Advantages and disadvantages; 2.2.2 Creating a FSM that works like a BT; 2.2.3 Creating a BT that works like a FSM; 2.3 Subsumption Architecture; 2.3.1 Advantages and disadvantages; 2.3.2 How BTs generalize the subsumption architecture; 2.4 Teleo-Reactive programs; 2.4.1 Advantages and disadvantages; 2.4.2 How BTs generalize teleo-reactive programs; 2.5 Decision Trees; 2.5.1 Advantages and disadvantages |
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2.5.2 How BTs generalize decision trees2.6 Advantages and Disadvantages of Behavior Trees; 2.6.1 Advantages; 2.6.2 Disadvantages; 3 Design Principles; 3.1 Improving Readability using Explicit Success Conditions; 3.2 Improving Reactivity using Implicit Sequences; 3.3 Handling Different Cases using a decision tree Structure; 3.4 Improving Safety using Sequences; 3.5 Creating Deliberative BTs using Backchaining; 3.6 Creating Un-Reactive BTs using Memory Nodes; 3.7 Choosing the Proper Granularity of a BT; 3.8 Putting it all together; 4 Extensions of Behavior Trees; 4.1 Utility BTs |
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4.2 Stochastic BTs4.3 Temporary Modification of BTs; 4.4 Other extensions of BTs; 4.4.1 Dynamic expansion of BTs; 5 Analysis of Efficiency, Safety, and Robustness; 5.1 State-space Formulation of BTs; 5.2 Efficiency and Robustness; 5.3 Safety; 5.4 Examples; 5.4.1 Robustness and efficiency; 5.4.2 Safety; 5.4.3 A more complex BT; 6 Formal Analysis of How Behavior Trees Generalize Earlier Ideas; 6.1 How BTs Generalize Decision Trees; 6.2 How BTs Generalize the Subsumption Architecture; 6.3 How BTs Generalize Sequential Behavior Compositions; 6.4 How BTs Generalize the Teleo-Reactive approach |
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6.4.1 Universal teleo-reactive programs and FTS BTs7 Behavior Trees and Automated Planning; 7.1 The Planning and Acting (PA-BT) approach; 7.1.1 Algorithm overview; 7.1.2 The algorithm steps in detail; 7.1.3 Comments on the algorithm; 7.1.4 Algorithm execution on graphs; 7.1.5 Algorithm execution on an existing example; 7.1.6 Reactiveness; 7.1.7 Safety; 7.1.8 Fault tolerance; 7.1.9 Realistic complex execution; 7.1.9.1 KUKA Youbot experiments; 7.1.9.2 ABB Yumi experiments; 7.2 Planning using A Behavior Language; 7.2.1 An ABL agent; 7.2.2 The ABL planning approach |
| Notes |
7.2.3 Brief results of a complex execution in StarCraft |
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Print version record |
| Subject |
Robots -- Control systems.
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Decision trees.
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Decision Trees
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Decision trees
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Robots -- Control systems
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| Form |
Electronic book
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| Author |
Ögren, Petter
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| ISBN |
9780429950896 |
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0429950896 |
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