Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A principled analysis of Behavior Trees and their generalisations   As complex autonomous robotic systems become more widespread, the need for
transparent and reusable Artificial Intelligence (AI) designs becomes more
apparent. In this paper we analyse how the principles behind Behavior Trees
(BTs), an increasingly popular tree-structured control architecture, are
applicable to these goals. Using structured programming as a guide, we analyse
the BT principles of reactiveness and modularity in a formal framework of
action selection. Proceeding from these principles, we review a number of
challenging use cases of BTs in the literature, and show that reasoning via
these principles leads to compatible solutions. Extending these arguments, we
introduce a new class of control architectures we call generalised BTs or
$k$-BTs and show how they can extend the applicability of BTs to some of the
aforementioned challenging BT use cases while preserving the BT principles.

20
The categories of this paper are: acc-phys
36
The categories of this paper are: cmp-lg
10
The categories of this paper are: q-bio
21
The categories of this paper are: adap-org
30
The categories of this paper are: q-alg
19
The categories of this paper are: eess
22
The categories of this paper are: chao-dyn
28
The categories of this paper are: alg-geom
24
The categories of this paper are: dg-ga
32
The categories of this paper are: atom-ph
15
The categories of this paper are: nucl-ex
37
The categories of this paper are: supr-con
17
The categories of this paper are: q-fin
9
The categories of this paper are: nlin
3
The categories of this paper are: physics
16
The categories of this paper are: stat