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

作　　者：Shuo Yang Qi Zhang 

机构地区：[1]College of Systems Engineering,National University of Defense Technology,Changsha 410072,China

出　　处：《Complex System Modeling and Simulation》2023年第4期357-380,共24页复杂系统建模与仿真（英文）

摘　　要：interaction pipelines while maintaining interfaces for task-specific customization.The Structural-BT framework supports the modular design of structure functionalities and allows easy extensibility of the inner planning flows between BT components.With 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 necessary.In 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 comparison.By 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.

关 键 词：robotic software modeling and development software architecture task planning paradigm behavior tree modeling 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]