ITU

Behavior trees in action: A study of robotics applications

Research output: Conference Article in Proceeding or Book/Report chapterBook chapterResearchpeer-review

Standard

Behavior trees in action: A study of robotics applications. / Ghzouli, Razan; Berger, Thorsten; Broch Johnsen, Einar; Dragule, Swaib; Wasowski, Andrzej.

Proceedings of the 13th ACM SIGPLAN International Conference on Software Language Engineering, SLE 2020, Virtual Event, USA, November 16-17, 2020. Association for Computing Machinery, 2020. p. 196–209 (Proceedings of ACM SIGPLAN International Conference on Software Language Engineering).

Research output: Conference Article in Proceeding or Book/Report chapterBook chapterResearchpeer-review

Harvard

Ghzouli, R, Berger, T, Broch Johnsen, E, Dragule, S & Wasowski, A 2020, Behavior trees in action: A study of robotics applications. in Proceedings of the 13th ACM SIGPLAN International Conference on Software Language Engineering, SLE 2020, Virtual Event, USA, November 16-17, 2020. Association for Computing Machinery, Proceedings of ACM SIGPLAN International Conference on Software Language Engineering, pp. 196–209, ACM SIGPLAN International Conference on Software Language Engineering, 16/11/2020. https://doi.org/10.1145/3426425.3426942

APA

Ghzouli, R., Berger, T., Broch Johnsen, E., Dragule, S., & Wasowski, A. (2020). Behavior trees in action: A study of robotics applications. In Proceedings of the 13th ACM SIGPLAN International Conference on Software Language Engineering, SLE 2020, Virtual Event, USA, November 16-17, 2020 (pp. 196–209). Association for Computing Machinery. Proceedings of ACM SIGPLAN International Conference on Software Language Engineering https://doi.org/10.1145/3426425.3426942

Vancouver

Ghzouli R, Berger T, Broch Johnsen E, Dragule S, Wasowski A. Behavior trees in action: A study of robotics applications. In Proceedings of the 13th ACM SIGPLAN International Conference on Software Language Engineering, SLE 2020, Virtual Event, USA, November 16-17, 2020. Association for Computing Machinery. 2020. p. 196–209. (Proceedings of ACM SIGPLAN International Conference on Software Language Engineering). https://doi.org/10.1145/3426425.3426942

Author

Ghzouli, Razan ; Berger, Thorsten ; Broch Johnsen, Einar ; Dragule, Swaib ; Wasowski, Andrzej. / Behavior trees in action: A study of robotics applications. Proceedings of the 13th ACM SIGPLAN International Conference on Software Language Engineering, SLE 2020, Virtual Event, USA, November 16-17, 2020. Association for Computing Machinery, 2020. pp. 196–209 (Proceedings of ACM SIGPLAN International Conference on Software Language Engineering).

Bibtex

@inbook{1ea5725973654f508643492e33377cff,
title = "Behavior trees in action: A study of robotics applications",
abstract = "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 coordination is architecturally separated and often expressed in higher-level languages or frameworks. Recently, the language of Behavior Trees gained attention among roboticists for this reason. Originally designed for computer games to model autonomous actors, Behavior Trees offer an extensible tree-based representation of missions. However, even though, several implementations of the language are in use, little is known about its usage and scope in the real world. How do behavior trees relate to traditional languages for describing behavior? How are behavior tree concepts used in applications? What are the benefits of using them?We present a study of the key language concepts in Behavior Trees and their use in real-world robotic applications. We identify behavior tree languages and compare their semantics to the most well-known behavior modeling languages: state and activity diagrams. We mine open source repositories for robotics applications that use the language and analyze this usage. We find that Behavior Trees are a pragmatic language, not fully specified, allowing projects to extend it even for just one model. Behavior trees clearly resemble the models-at-runtime paradigm. We contribute a dataset of real-world behavior models, hoping to inspire the community to use and further develop this language, associated tools, and analysis techniques.",
author = "Razan Ghzouli and Thorsten Berger and {Broch Johnsen}, Einar and Swaib Dragule and Andrzej Wasowski",
year = "2020",
doi = "10.1145/3426425.3426942",
language = "English",
series = "Proceedings of ACM SIGPLAN International Conference on Software Language Engineering",
pages = "196–209",
booktitle = "Proceedings of the 13th ACM SIGPLAN International Conference on Software Language Engineering, SLE 2020, Virtual Event, USA, November 16-17, 2020",
publisher = "Association for Computing Machinery",
address = "United States",
note = "ACM SIGPLAN International Conference on Software Language Engineering, SLE ; Conference date: 16-11-2020 Through 17-11-2020",
url = "https://conf.researchr.org/home/sle-2020?",

}

RIS

TY - CHAP

T1 - Behavior trees in action: A study of robotics applications

AU - Ghzouli, Razan

AU - Berger, Thorsten

AU - Broch Johnsen, Einar

AU - Dragule, Swaib

AU - Wasowski, Andrzej

PY - 2020

Y1 - 2020

N2 - 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 coordination is architecturally separated and often expressed in higher-level languages or frameworks. Recently, the language of Behavior Trees gained attention among roboticists for this reason. Originally designed for computer games to model autonomous actors, Behavior Trees offer an extensible tree-based representation of missions. However, even though, several implementations of the language are in use, little is known about its usage and scope in the real world. How do behavior trees relate to traditional languages for describing behavior? How are behavior tree concepts used in applications? What are the benefits of using them?We present a study of the key language concepts in Behavior Trees and their use in real-world robotic applications. We identify behavior tree languages and compare their semantics to the most well-known behavior modeling languages: state and activity diagrams. We mine open source repositories for robotics applications that use the language and analyze this usage. We find that Behavior Trees are a pragmatic language, not fully specified, allowing projects to extend it even for just one model. Behavior trees clearly resemble the models-at-runtime paradigm. We contribute a dataset of real-world behavior models, hoping to inspire the community to use and further develop this language, associated tools, and analysis techniques.

AB - 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 coordination is architecturally separated and often expressed in higher-level languages or frameworks. Recently, the language of Behavior Trees gained attention among roboticists for this reason. Originally designed for computer games to model autonomous actors, Behavior Trees offer an extensible tree-based representation of missions. However, even though, several implementations of the language are in use, little is known about its usage and scope in the real world. How do behavior trees relate to traditional languages for describing behavior? How are behavior tree concepts used in applications? What are the benefits of using them?We present a study of the key language concepts in Behavior Trees and their use in real-world robotic applications. We identify behavior tree languages and compare their semantics to the most well-known behavior modeling languages: state and activity diagrams. We mine open source repositories for robotics applications that use the language and analyze this usage. We find that Behavior Trees are a pragmatic language, not fully specified, allowing projects to extend it even for just one model. Behavior trees clearly resemble the models-at-runtime paradigm. We contribute a dataset of real-world behavior models, hoping to inspire the community to use and further develop this language, associated tools, and analysis techniques.

U2 - 10.1145/3426425.3426942

DO - 10.1145/3426425.3426942

M3 - Book chapter

T3 - Proceedings of ACM SIGPLAN International Conference on Software Language Engineering

SP - 196

EP - 209

BT - Proceedings of the 13th ACM SIGPLAN International Conference on Software Language Engineering, SLE 2020, Virtual Event, USA, November 16-17, 2020

PB - Association for Computing Machinery

T2 - ACM SIGPLAN International Conference on Software Language Engineering

Y2 - 16 November 2020 through 17 November 2020

ER -

ID: 85635294