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Davide Faconti
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‎BT_basics/index.html

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<ul class="md-nav__list">
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<li class="md-nav__item">
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<a href="#sequence" title="Sequence" class="md-nav__link">
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Sequence
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<a href="#first-controlnode-sequence" title="First ControlNode: Sequence" class="md-nav__link">
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First ControlNode: Sequence
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</a>
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</li>
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<a href="#fallback" title="Fallback" class="md-nav__link">
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Fallback
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<a href="#second-controlnode-fallback" title="Second ControlNode: Fallback" class="md-nav__link">
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Second ControlNode: Fallback
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<ul class="md-nav__list">
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<li class="md-nav__item">
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<a href="#sequence" title="Sequence" class="md-nav__link">
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Sequence
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<a href="#first-controlnode-sequence" title="First ControlNode: Sequence" class="md-nav__link">
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First ControlNode: Sequence
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</a>
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</li>
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<li class="md-nav__item">
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<a href="#fallback" title="Fallback" class="md-nav__link">
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Fallback
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<a href="#second-controlnode-fallback" title="Second ControlNode: Fallback" class="md-nav__link">
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Second ControlNode: Fallback
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</li>
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<p>Unlike a Finite State Machine, a Behaviour Tree is a <strong>tree of hierarchical nodes</strong>
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that controls the flow of decision and the execution of "tasks" or, as we
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will call them further, "<strong>Actions</strong>".</p>
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<p>The <strong>leaves</strong> of the tree are the actual commands, ie.e the place where
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<p>The <strong>leaves</strong> of the tree are the actual commands, i.e. the place where
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our coordinating component interacts with the rest of the system.</p>
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<p>For instance, in a service-oriented architecture, the leaves would contain
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the "client" code that triggers an action.</p>
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the "client" code that communicate with the "server" that performs the
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operation.</p>
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<p><img alt="Leaf To Component Communication" src="../images/LeafToComponentCommunication.png" /></p>
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<p>The other nodes of the tree, those which are not leaves, control the
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"flow of execution".</p>
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<p>To better understand how this flow takes place , imagine a signal, that we will further
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call "<strong>tick</strong>" that is executed at the <strong>root</strong> of the tree and propagates through
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call "<strong>tick</strong>"; it is executed at the <strong>root</strong> of the tree and propagates through
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the branches until it reaches one or multiple leaves.</p>
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<p>The result of a tick can be either:</p>
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<p>The <code>tick()</code> callback returns a <code>NodeStatus</code> that will be either:</p>
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<ul>
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<li><strong>SUCCESS</strong></li>
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<li><strong>FAILURE</strong></li>
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<li><strong>RUNNING</strong></li>
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<li><strong>IDLE</strong></li>
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</ul>
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<p>The first two, as their names suggest, inform their parent that their operation
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was a success or a failure.</p>
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examples. For the sake of simplicity we will not take into account what happens
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when an action returns RUNNING.</p>
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<p>We will assume that each Action is executed atomically and synchronously.</p>
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<h3 id="sequence">Sequence</h3>
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<h3 id="first-controlnode-sequence">First ControlNode: Sequence</h3>
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<p>Let's illustrate how a BT works using the most basic and frequently used
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ControlNode: the <a href="../SequenceNode/">SequenceNode</a>.</p>
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<p>The children of a ControlNode are always <strong>ordered</strong>; it is up to the ControlNode
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<p><strong>But</strong> there is an error. Can you find it?</p>
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<details class="warning"><summary>Exercise: find the bug! Expand to read the answer.</summary><p>If <strong>DoorOpen</strong> returns FAILURE, we have the desired behaviour.
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But if it returns SUCCESS, the left branch fails and the entire Sequence
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is interrupted. </p></details><h3 id="fallback">Fallback</h3>
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is interrupted. </p></details><h3 id="second-controlnode-fallback">Second ControlNode: Fallback</h3>
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<p><a href="../FallbackNode/">FallbackNodes</a>, known also as <strong>"Selector"</strong>,
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are nodes that can express, as the name suggests, fallback strategies,
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ie. what to do next if a child returns FAILURE.</p>

‎images/LeafToComponentCommunication.png

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‎search/search_index.json

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‎sitemap.xml.gz

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‎uml/LeafToComponentCommunication.uxf

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