A survey of Behavior Trees in robotics and AI

Behavior Trees (BTs) were invented as a tool to enable modular AI in computer games, but have received an increasing amount of attention the robotics community last decade. With rising demands on agent complexity, game programmers found that Finite State Machines (FSM) they used scaled poorly and difficult extend, adapt reuse. In BTs, state transition logic is not dispersed across individual states, organized hierarchical tree structure, with states leaves. This has significant effect modularity, which turn simplifies both synthesis analysis by humans algorithms alike. These advantages are needed only design, also robotics, evident from research being done. this paper we present comprehensive survey topic BTs Artificial Intelligence Robotic applications. The existing literature described categorized based methods, application areas contributions, concluded list open challenges.