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<p>BTs provide the means of changing the overall behavior from a
high level. In one competition there were 3 main task to be
performed. At the highest level the BT allowed all three to be
stated as a simple list of three items with sub-trees for their
specific requirements. <br>
</p>
<div class="moz-signature"><font face="Comic Sans MS"
color="#000080"> <br>
-73 - <br>
<b>Rud Merriam K5RUD</b> <br>
<a href="http://mysticlakesoftware.com/"> <i>Mystic Lake
Software</i> </a> <br>
<br>
</font>
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<div class="moz-cite-prefix">On 10/28/21 2:52 PM, Murray Altheim via
DPRGlist wrote:<br>
</div>
<blockquote type="cite"
cite="mid:f4dc3f3b-18e9-0610-33af-1a932d41f40c@altheim.com">On
29/10/21 7:36 am, Rud Merriam via DPRGlist wrote:
<br>
<blockquote type="cite">I replied to David and included this link:
[...]
<br>
</blockquote>
<br>
Hi Rud,
<br>
<br>
I'm doing my own robot OS in python so I'll check out the Python
code,
<br>
and I've got the link to the Italian/Swedish paper, thanks for
that.
<br>
<br>
My own exploration is inspired by my readings of Brooks, Jones,
and what
<br>
I've learned from David (who has been a great help), and is a
based around
<br>
an asynchronous (asyncio) message bus supporting a
publish-subscribe model.
<br>
<br>
There is the ability to enable/disable and suppress/release any of
the
<br>
Publishers or Subscribers, plus a class of Behaviour that combines
both
<br>
a Publisher and Subscriber, so the basic foundations of
subsumption are
<br>
there but not at the level of a single or BT loop, as all of the
event-
<br>
carrying messages sent around within the system are asynchronous.
I
<br>
maintain that it's still following the basic idea of a subsumption
<br>
architecture but implemented quite differently than others I've
seen.
<br>
<br>
I'm still working through the details of it but so far things are
working.
<br>
A lot of effort...
<br>
<br>
I'm curious about the Behaviour Tree idea because it suggests
different
<br>
patterns or sequences of behaviours for different contexts, which
is
<br>
something I've been investigating.
<br>
<br>
Cheers,
<br>
<br>
Murray
<br>
<br>
<br>
...........................................................................
<br>
Murray Altheim <murray18 at altheim dot
com> = = ===
<br>
<a class="moz-txt-link-freetext" href="http://www.altheim.com/murray/">http://www.altheim.com/murray/</a>
=== ===
<br>
= = ===
<br>
In the evening
<br>
The rice leaves in the garden
<br>
Rustle in the autumn wind
<br>
That blows through my reed hut.
<br>
-- Minamoto no Tsunenobu
<br>
<br>
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</blockquote>
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