Towards Supporting Modelling of Fault Tolerant Behaviour Using Behaviour Trees
Elena Troubitsynå · 2025
Behavior Trees are increasingly used in the design of autonomous systems. They support modularity and hierarchical composition of requirements. Moreover, they explicitly define the external and internal operating conditions that should be monitored by the system. However, Behavior Trees leave aside the problem of reconfiguration and adaption required to achieve fault tolerant behavior that is implicitly assumed. To address this problem, we propose to integrate FMEA – Failure Modes and Effect Analysis with Behavior Trees to explicitly define the failure conditions and fallback actions. Such an approach facilitates identification of conditions to be monitored under both nominal as well as failure scenarios. It supports holistic modeling of the behavior of a system both under nominal and failure conditions.