An Expressiveness Hierarchy of Behavior Trees and Related Architectures

作     者：Biggar, Oliver Zamani, Mohammad Shames, Iman 

作者机构：Def Sci & Technol Grp Land Div Fishermans Bend 3207 Australia Australian Natl Univ Sch Engn Canberra ACT 2601 Australia 

出 版 物：《IEEE ROBOTICS AND AUTOMATION LETTERS》 (IEEE Robot. Autom.)

年 卷 期：2021年第6卷第3期

页      面：5397-5404页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0811[工学-控制科学与工程] 

基　　金：Defence Science and Technology Group [MyIP: 10266, AUSMURIB000001] ONR MURI [N00014-19-1-2571] 

主　　题：Control architectures and programming methods and tools for robot system design software architecture for robotic and automation 

摘      要：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.