Interfacing Behavior Trees with the World Using Description Logic

Kurzfassung

In order to rigorously analyze mission plans, they have to be translated into a tractable formalism. This paper proposes to use the description logic Attributive Language with Complements and concrete Domains ALC(D) as the input formalism for a mission plan based on behavior trees. The interface is described using the safety circuit of an exemplary unmanned aerial vehicle. The system is executed using a three-degree-of-freedom simulation model. Results indicate that the system can be used as a first step towards verification of mission plans with formal methods. In a more efficient variant, the behavior tree mission plan executes sufficiently fast to be deployed in actual flight computers.