论文标题
节点模板以提高行为树的可重复性和模块化
Node Templates to improve Reusability and Modularity of Behavior Trees
论文作者
论文摘要
行为树（BTS）引起了机器人学会的关注，这尤其要归功于它们的模块化和可重复性。 BT的子树可以被视为单独的行为，因此可以重复使用。我们解决以下研究问题：我们是否利用BT的全部功能在这些属性上？我们建议将子树重复使用的概念概括为“节点模板”概念，该概念允许代表任意的节点集合。此外，以前的硬编码行为，例如节点*和许多装饰器节点可以通过节点模板在基于内存的BT中实现。
Behavior Trees (BTs) got the robotics society attention not least thanks to their modularity and reusability. The subtrees of BTs could be treated as separate behaviors and therefore reused. We address the following research question: do we exploit the full power of BT on these properties? We suggest to generalise the idea of subtree reuse to "node templates" concept, which allows to represent an arbitrary nodes collection. In addition, previously hardcoded behaviors such as Node* and many Decorator nodes could be implemented in a memory-based BT by node templates.
