An Expressiveness Hierarchy of Behavior Trees and Related Architectures

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 comparisons of structural programming methodologies, we formalise the concept of 'expressiveness'. This le...

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Vydáno v:	IEEE robotics and automation letters Ročník 6; číslo 3; s. 5397 - 5404
Hlavní autoři:	Biggar, Oliver, Zamani, Mohammad, Shames, Iman
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Piscataway IEEE 01.07.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	Automata Computer architecture Computer languages Control architectures and programming Decision making Decision trees Finite state machines methods and tools for robot system design Programming Sensors software architecture for robotic and automation Task analysis
ISSN:	2377-3766, 2377-3766
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Shrnutí:	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 comparisons of structural programming methodologies, we formalise the concept of 'expressiveness'. This leads us to an expressiveness hierarchy of control architectures, which includes BTs, Decision Trees (DTs), Teleo-reactive Programs (TRs) and Finite State Machines (FSMs). By distinguishing between BTs with auxiliary variables and those without, we demonstrate the existence of a trade-off in BT design between readability and expressiveness . We discuss what this means for BTs in practice.
Bibliografie:	ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14
ISSN:	2377-3766 2377-3766
DOI:	10.1109/LRA.2021.3074337