Controlling Robots with Behavior Trees

[gabrielsr]

As a Simulation creator
I want to assign a behavior tree to a robot
In order to control the robot

A popular way of specifying agents' behavior in games and robotics is 'Behavior Trees'. Would be nice to have a running example of integrating BTs control in our ECS architecture and a wiki page description.

Intro to BTs:
https://outforafight.wordpress.com/2014/07/15/behaviour-behavior-trees-for-ai-dudes-part-1/
https://arxiv.org/pdf/2005.05842.pdf
https://www.researchgate.net/publication/340870872_An_event-driven_behavior_trees_extension_to_facilitate_non-player_multi-agent_coordination_in_video_games

[gabrielsr]

Articles about how to inetgrate ECS and BTs:

https://medium.com/@icex33/entity-component-system-and-game-ai-techniques-f439eb69b5d2
Questions in this article:

• Should the tree be triggered on every tick?
• Should we support the running node state and while triggering the tree, it should jump directly to the last running node?
• Should the nodes operate on a group of entities, or on a single entity?
• Should we make trees run in parallel for every entity by using tasks?
• How should the tree be represented (in the editor)?
• Should the tree nodes have their own parameters / state, or should everything be defined with components and entities?

[gabrielsr]

Libs:
https://pypi.org/project/async-btree/
https://github.com/ToyotaResearchInstitute/task_behavior_engine