[Dprglist] On Behavior Trees [Was: self driving trucks and the desert]

[Murray Altheim]

On 29/10/21 7:36 am, Rud Merriam via DPRGlist wrote:
> I replied to David and included this link: [...]

Hi Rud,

I'm doing my own robot OS in python so I'll check out the Python code,
and I've got the link to the Italian/Swedish paper, thanks for that.

My own exploration is inspired by my readings of Brooks, Jones, and what
I've learned from David (who has been a great help), and is a based around
an asynchronous (asyncio) message bus supporting a publish-subscribe model.

There is the ability to enable/disable and suppress/release any of the
Publishers or Subscribers, plus a class of Behaviour that combines both
a Publisher and Subscriber, so the basic foundations of subsumption are
there but not at the level of a single or BT loop, as all of the event-
carrying messages sent around within the system are asynchronous. I
maintain that it's still following the basic idea of a subsumption
architecture but implemented quite differently than others I've seen.

I'm still working through the details of it but so far things are working.
A lot of effort...

I'm curious about the Behaviour Tree idea because it suggests different
patterns or sequences of behaviours for different contexts, which is
something I've been investigating.

Cheers,

Murray


...........................................................................
Murray Altheim <murray18 at altheim dot com>                       = =  ===
http://www.altheim.com/murray/                                     ===  ===
                                                                    = =  ===
     In the evening
     The rice leaves in the garden
     Rustle in the autumn wind
     That blows through my reed hut.
            -- Minamoto no Tsunenobu