Task Planning with Belief Behavior Trees
Evgenii Safronov,Michele Colledanchise,Lorenzo Natale,Evgenii Safronov,Michele Colledanchise,Lorenzo Natale
In this paper, we propose Belief Behavior Trees (BBTs), an extension to Behavior Trees (BTs) that allows to automatically create a policy that controls a robot in partially observable environments. We extend the semantic of BTs to account for the uncertainty that affects both the conditions and action nodes of the BT. The tree gets synthesized following a planning strategy for BTs proposed recentl...
