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Behavior Trees with Stateful Tasks

Klöckner, Andreas (2015) Behavior Trees with Stateful Tasks. In: Advances in Aerospace Guidance, Navigation and Control - Selected Papers of the Third CEAS Specialist Conference on Guidance, Navigation and Control Held in Toulouse, France, in April 2015, pp. 509-519. Springer International Publishing, Switzerland. 3rd CEAS Specialist Conference on Guidance, Navigation & Control, 13-15 April 2015, Toulouse, France. DOI: 10.1007/978-3-319-17518-8_29 ISBN 978-3-319-17517-1

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Official URL: http://dx.doi.org/10.1007/978-3-319-17518-8_29

Abstract

The behavior tree formalism as introduced recently to the application of mission management of unmanned aerial vehicles does provide for internal memory of mission plans. This is an important drawback for even simple plans such as waypoint sequences, because the information about visited waypoints must be stored outside of the plan execution engine. In this paper, two approaches are presented in order to provide tasks with states inside behavior trees: The first allows to embed regular state machines in a specialized behavior tree task. The second provides new memory and reset tasks in order to store information directly in the tree. Both approaches are shown to solve the waypoint following plan and promise to be applicable to a much broader range of mission management problems.

Item URL in elib:https://elib.dlr.de/96020/
Document Type:Conference or Workshop Item (Speech)
Title:Behavior Trees with Stateful Tasks
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Klöckner, Andreasandreas.kloeckner (at) dlr.deUNSPECIFIED
Date:15 April 2015
Journal or Publication Title:Advances in Aerospace Guidance, Navigation and Control - Selected Papers of the Third CEAS Specialist Conference on Guidance, Navigation and Control Held in Toulouse, France, in April 2015
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.1007/978-3-319-17518-8_29
Page Range:pp. 509-519
Editors:
EditorsEmail
Bordeneuve-Guibé, JoëlISAE
Drouin, AntoineENAC
Roos, ClémentONERA
Publisher:Springer International Publishing
ISBN:978-3-319-17517-1
Status:Published
Keywords:Behavior Trees, State Machines, Mission Management
Event Title:3rd CEAS Specialist Conference on Guidance, Navigation & Control
Event Location:Toulouse, France
Event Type:international Conference
Event Dates:13-15 April 2015
Organizer:CEAS
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:fixed-wing aircraft
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Systems and Cabin
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Aircraft System Dynamics
Deposited By: Klöckner, Andreas
Deposited On:26 May 2015 11:50
Last Modified:31 Jul 2019 19:52

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