Controlling Robots with Behavior Trees

lesunb / HMRSsim

Simulator for research in Heterogeneous Multi-Robots Environment. The intention is to provide extensible, lightweight, portable, low fidelity, visualizable simulations for testing task allocation approaches in a heterogeneous, multi-robot environment. The priority is to provide the researcher with the capability to easily implement new maps by importing 2D draws from draw.io.

GNU General Public License v3.0

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Controlling Robots with Behavior Trees #8

Open gabrielsr opened 3 years ago

gabrielsr commented 3 years ago

As a Simulation creator I want to assign a behavior tree to a robot In order to control the robot

A popular way of specifying agents' behavior in games and robotics is 'Behavior Trees'. Would be nice to have a running example of integrating BTs control in our ECS architecture and a wiki page description.

Intro to BTs: https://outforafight.wordpress.com/2014/07/15/behaviour-behavior-trees-for-ai-dudes-part-1/ https://arxiv.org/pdf/2005.05842.pdf https://www.researchgate.net/publication/340870872_An_event-driven_behavior_trees_extension_to_facilitate_non-player_multi-agent_coordination_in_video_games

gabrielsr commented 3 years ago

Articles about how to inetgrate ECS and BTs:

https://medium.com/@icex33/entity-component-system-and-game-ai-techniques-f439eb69b5d2 Questions in this article:

Should the tree be triggered on every tick?
Should we support the running node state and while triggering the tree, it should jump directly to the last running node?
Should the nodes operate on a group of entities, or on a single entity?
Should we make trees run in parallel for every entity by using tasks?
How should the tree be represented (in the editor)?
Should the tree nodes have their own parameters / state, or should everything be defined with components and entities?

gabrielsr commented 3 years ago

Libs: https://pypi.org/project/async-btree/ https://github.com/ToyotaResearchInstitute/task_behavior_engine