Behavior Trees in Robot Control Systems
Behavior Trees in Robot Control Systems
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DOI：
10.1146/annurev-control-042920-095314
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发表时间：
2021-12
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影响因子：
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通讯作者：
Petter Ögren;Christopher Iliffe Sprague
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文献类型：
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作者：
Petter Ögren;Christopher Iliffe Sprague
在这篇文章中，我们提供了一个控制理论的观点在机器人的行为树的研究领域。行为树的核心思想是利用模块化、层次结构和反馈来处理多用途机器人控制系统的复杂性。模块化是一种众所周知的处理软件复杂性的工具，它支持独立模块的开发、调试和扩展，而无需详细了解整个系统。这种模块的层次结构是很自然的，因为机器人任务通常可以分解为子任务的层次结构。最后，反馈控制是处理任何低级控制系统中不确定性和干扰的基本工具，但是为了实现更高级别的反馈控制，其中一个模块决定执行哪个子模块，关于每个子模块的进度和适用性的信息需要在模块接口中共享。我们描述了这三个概念如何用于理论分析，实际设计，以及与控制理论和机器人技术的其他思想的扩展和组合。预计《控制、机器人和自主系统年度评论》第5卷的最终在线出版日期是2022年5月。修订后的估计数请参阅http://www.annualreviews.org/page/journal/pubdates。
In this article, we provide a control-theoretic perspective on the research area of behavior trees in robotics. The key idea underlying behavior trees is to make use of modularity, hierarchies, and feedback in order to handle the complexity of a versatile robot control system. Modularity is a well-known tool to handle software complexity by enabling the development, debugging, and extension of separate modules without detailed knowledge of the entire system. A hierarchy of such modules is natural, since robot tasks can often be decomposed into a hierarchy of subtasks. Finally, feedback control is a fundamental tool for handling uncertainties and disturbances in any low-level control system, but in order to enable feedback control on the higher level, where one module decides what submodule to execute, information regarding the progress and applicability of each submodule needs to be shared in the module interfaces. We describe how these three concepts can be used in theoretical analysis, practical design, and extensions and combinations with other ideas from control theory and robotics. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.