论文标题
灵活的行为树：寻找神话般的HFSMBTH，以进行机器人技术的协作自主权
Flexible Behavior Trees: In search of the mythical HFSMBTH for Collaborative Autonomy in Robotics
论文作者
论文摘要
近年来，在视频游戏行业中首次开发的称为行为树（BT）的计算模型在定义离散行为转换方面已在机器人界变得越来越流行。 BTS威胁要取代古老的层次有限状态机（HFSM）模型。在本文中，我们将BT和HFSM进行了对比，指出了BT形式的一些潜在问题，并倡导了一种混合计算模型，该模型以利用其个人优势的方式使用BT和HFSM。这项工作为ROS 2引入了一个新的开源软件包，该软件包扩展了灵活的行为引擎（FLEXBE），以支持HFSM内基于BT的行为的互动，以支持协作自治的方式。仿真和硬件演示说明了概念。
In recent years, the model of computation known as Behavior Trees (BT), first developed in the video game industry, has become more popular in the robotics community for defining discrete behavior switching. BTs are threatening to supplant the venerable Hierarchical Finite State Machine (HFSM) model. In this paper we contrast BT and HFSM, pointing out some potential issues with the BT form, and advocate for a hybrid model of computation that uses both BT and HFSM in ways that leverage their individual strengths. The work introduces a new open-source package for ROS 2 that extends the Flexible Behavior Engine (FlexBE) to enable interaction with BT-based behaviors within a HFSM in a way that supports collaborative autonomy. Simulation and hardware demonstrations illustrate the concepts.
