There is a growing interest in Behavior Trees (BTs) as a tool to describe and implement robot behaviors. BTs were devised in the video game industry and their adoption in robotics resulted in the development of ad-hoc libraries to design and execute BTs that fit complex robotics software architectures. While there is broad consensus on how BTs work, some characteristics rely on the implementation choices done in the specific software library used. In this letter, we outline practical aspects in the adoption of BTs and the solutions devised by the robotics community to fully exploit the advantages of BTs in real robots. We also overview the solutions proposed in open-source libraries used in robotics, we show how BTs fit in robotic software architecture, and we present a use case example.

翻译：人们日益关注行为树(BTs)作为描述和实施机器人行为的工具。BTs是在电子游戏行业设计出来的,在机器人行业中采用BTs的结果是开发了专门图书馆来设计和实施适合复杂的机器人软件结构的BTs。虽然对于BTs如何运作存在广泛的共识,但有些特点依赖于在所使用的具体软件库中所作的实施选择。我们在此信中概述了采用BTs的实际方面,以及机器人界为充分利用机器人中BTs的优势而设计的解决办法。我们还概述了在机器人中使用的开源图书馆中提议的解决方案,我们展示了BTs如何适合机器人软件结构,我们展示了一个使用的例子。