Oliver Biggar

2 accepted papers

2021

An Expressiveness Hierarchy of Behavior Trees and Related Architectures

Oliver Biggar, Mohammad Zamani, Iman Shames

RA-L 2021

In this letter, we provide a formal framework for comparing the expressive power of Behavior Trees (BTs) to other action selection architectures. Taking inspiration from the analogous comparisons of structural programming methodologies, we formalise the concept of `expressiveness'. This leads us to

Cited by 24 Source ↗Scholar ↗

2020

A Framework for Formal Verification of Behavior Trees With Linear Temporal Logic

Oliver Biggar, Mohammad Zamani

RA-L 2020

Despite the current increasing popularity of Behavior Trees (BTs) in the robotics community, there does not currently exist a method to formally verify their correctness without compromising their most valuable traits: modularity, flexibility and reusability. In this letter we present a new mathemat

Cited by 30 Source ↗Scholar ↗