Towards Efficient Robotic Software Development by Reusing Behavior Tree Structures for Task Planning Paradigms

作     者：Shuo Yang Qi Zhang 

作者机构：College of Systems EngineeringNational University of Defense TechnologyChangsha 410072China 

出 版 物：《Complex System Modeling and Simulation》 (复杂系统建模与仿真（英文）)

年 卷 期：2023年第3卷第4期

页      面：357-380页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

主　　题：robotic software modeling and development software architecture task planning paradigm behavior tree modeling 

摘      要：interaction pipelines while maintaining interfaces for task-specific *** Structural-BT framework supports the modular design of structure functionalities and allows easy extensibility of the inner planning flows between BT *** the Structural-BT framework,software engineers can develop robotic software by flexibly composing BT structures to formulate the skeleton software architecture and implement task-specific algorithms when *** the experiment,this paper develops robotic software for diverse task scenarios and selects the baseline approaches of Robot Operating System(ROS)and classical BT development frameworks for *** quantitatively measuring the reuse frequencies and ratios of BT structures,the Structural-BT framework has been shown to be more efficient than the baseline approaches for robotic software development.