Understanding BTs
BTs are a modular and hierarchical framework designed to manage complex behaviors. Originally developed in the gaming industry to control the actions of non-player characters (NPCs), BTs have gained popularity in robotics due to their flexibility, reusability, and ability to handle dynamic and unpredictable environments. By providing a structured approach to organizing and executing behaviors, BTs are particularly well-suited for complex robotic systems.
In contrast, FSMs offer another common method for managing robotic behaviors. An FSM models a system’s behavior using a set of states and transitions, with the robot residing in one specific state at any given time and transitioning to another state when certain conditions or events occur. FSMs are straightforward and intuitive, making them ideal for modeling simple and well-defined tasks. However, as tasks become more complex, FSMs become increasingly challenging to manage due to the rapid growth in the...