Behavior Trees for Robotic Systems: An Empirical Study on Practices and Experiences

arXiv:2609.22404 · cs.RO, cs.SE · Submitted 2026-09-18 · Read on arXiv

cs.RO, cs.SE

Submitted: 2026-09-18

Updated: 2026-09-18

Code: https://github.com/splintered-reality/py

Terminology

Modularity — 7× in this paper · explained in 9 episodes
Abstraction — 4× in this paper · explained in 1 episode
Core — 4× in this paper · explained in 2 episodes
Verification — 4× in this paper · explained in 2 episodes
Communication Overhead — 3× in this paper · explained in 2 episodes
Adaptability — 2× in this paper · explained in 1 episode
Alignment — 2× in this paper · explained in 1 episode
Grounding — 2× in this paper · explained in 3 episodes
International Conference on Robotics and Automation — 2× in this paper
Planning Domain Definition Language — 2× in this paper
Sequence Planner — 2× in this paper
Aggregation — 1× in this paper · explained in 1 episode
BTs to Robot Operating System — 1× in this paper
Computational overhead — 1× in this paper · explained in 2 episodes
Decoupling — 1× in this paper · explained in 2 episodes
Formal Verification — 1× in this paper · explained in 2 episodes
Generalizability — 1× in this paper · explained in 6 episodes
Generalization — 1× in this paper · explained in 13 episodes
Hybrid Approach — 1× in this paper · explained in 4 episodes
Task Planning — 1× in this paper · explained in 2 episodes

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