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How Behavior Trees Modularize Robustness and Safety in the Hybrid Control Systems of Computer Games

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Abstract:
Behavior Trees (BTs) have become a popular framework for designing hybrid controllers of in-game opponents in the computer gaming industry. In this talk, we describe BTs and analyze the reasons behind their success using standard tools of control theory, focusing on how properties such as robustness and safety are addressed in a modular way. In particular, we show how these key properties can be traced back to the ideas of subsumption and sequential compositions of robot behaviors. We also show how performance estimates of BTs, such as success probabilities and execution times, can be computed in a modular recursive fashion using Markov Chains. We conclude by noting that BTs can be seen as a recent addition to a long research effort towards increasing modularity, robustness and safety of robot control systems.

Type of Seminar:
IfA Seminar
Speaker:
Prof. Petter Ögren
Computer Vision and Active Perception Lab (CVAP), Kungliga Tekniska Högskolan (KTH)
Date/Time:
Jun 10, 2014   16:15
Location:

ETZ E6, Gloriastrasse 35
Contact Person:

John Lygeros
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