论文/arXiv 2609.05331·1 个月前

机器人系统中的适应需求：评估 Behavior Trees 及其增强

论文通过文献研究与经验验证，评估 Behavior Trees 应对机器人适应需求的能力及增强方法。

AI 整理

• 本体 SDK 与控制
• 端侧部署

原文链接：Adaptation Needs in Robotic Systems: Assessing Behavior Trees and Their Enhancement（arXiv 2609.05331 · 发布日期：2026-09-04）

Adaptation Needs in Robotic Systems: Assessing Behavior Trees and Their Enhancement

论文通过文献研究与经验验证，评估 Behavior Trees 应对机器人适应需求的能力及增强方法。

核心要点

• 动态、不确定、开放环境会使设计时假设失效，机器人需适应以保持有效与安全运行。
• 研究从文献归纳知识、感知、执行、系统、任务、环境六类机器人适应需求。
• 论文分析经典 BT 的能力与局限，并将 BT 增强方法归为生成、扩展、演化、精化四类。
• 经典 BT 难支撑运行时重构、不确定推理、学习及外部知识和规划集成。

英文摘要 (Abstract)

Robotic systems increasingly operate in dynamic, uncertain, and open-ended environments, where design-time assumptions may no longer hold, and adaptation becomes necessary to maintain effective and safe operation. Behavior Trees (BTs) are widely used in robotic control architectures due to their modularity, readability, and reactivity. This raises a central question: are BTs sufficient to meet the adaptation needs of modern robotic systems? This paper investigates this question through a literature-driven study complemented by empirical validation. First, we derive a classification of robotic adaptation needs from the literature, organizing them into six categories: Knowledge, Perception, Actuation, System, Mission, and Environment. Then, we analyze the capabilities and limitations of classical BTs with respect to these needs. Then, we characterize BT-based approaches for adaptation from the existing literature and organize them into four primary families, i.e., generation, extension, evolution, and refinement, including approaches that combine multiple families. Our analysis shows that the modularity, flexibility, and reactivity of classical BTs are insufficient for adaptation needs involving runtime restructuring, reasoning under uncertainty, mission reinterpretation, learning, or integration with external knowledge and planning mechanisms. Enhanced BT approaches address several of these limitations, but to different extents and often with limitations of their own. Our findings relate adaptation needs to both the capabilities and limitations of classical and enhanced BTs, providing guidance on when classical BTs are sufficient, when enhanced mechanisms are needed, and which challenges remain or emerge for adaptive robotic control architectures.

作者：Mehran Rostamnia, Gianluca Filippone, Ricardo Caldas, Patrizio Pelliccione

来源

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1. arXiv 2609.05331：Adaptation Needs in Robotic Systems: Assessing Behavior Trees and Their Enhancement访问 2026-10-21