Synthesis and Online Re-planning Framework for Time-Constrained Behavior Tree
Chuanxiang Gao, Yu Zhai, Biao Wang, Ben M. Chen · 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO) · 2021
Currently, there are some works on automatically generating behavior trees, but they rarely consider task completion efficiency. In this paper, we first propose a new domain knowledge definition method. In addition to making use of the advantages of behavior trees, it also considers the time efficiency of the tasks. Furthermore, this paper proposes a novel algorithm of automatically generating behavior trees with time constraints including construction, simulation, and online re-planning. Our method can find the behavior tree with the shortest time to complete the tasks. Additionally, it also maintains a good reactivity to environmental changes. To illustrate the effectiveness of our method, we provide experimental validation in a simulated scenario.