Behavior Trees in Industrial Applications: A Case Study in Underground Explosive Charging
CoRR(2024)
摘要
In industrial applications Finite State Machines (FSMs) are often used to
implement decision making policies for autonomous systems. In recent years, the
use of Behavior Trees (BT) as an alternative policy representation has gained
considerable attention. The benefits of using BTs over FSMs are modularity and
reusability, enabling a system that is easy to extend and modify. However,
there exists few published studies on successful implementations of BTs for
industrial applications. This paper contributes with the lessons learned from
implementing BTs in a complex industrial use case, where a robotic system
assembles explosive charges and places them in holes on the rock face. The main
result of the paper is that even if it is possible to model the entire system
as a BT, combining BTs with FSMs can increase the readability and
maintainability of the system. The benefit of such combination is remarked
especially in the use case studied in this paper, where the full system cannot
run autonomously but human supervision and feedback are needed.
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