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SLE 2020
Sun 15 - Fri 20 November 2020 Online Conference
co-located with SPLASH 2020
Mon 16 Nov 2020 11:40 - 12:00 at SPLASH-III - Chair(s): Laurence Tratt
Mon 16 Nov 2020 23:40 - 00:00 at SPLASH-III - Chair(s): Paddy Krishnan

Autonomous robots combine a variety of skills to form increasingly complex behaviors called missions. While the skills are often programmed at a relatively low level of abstraction, their coordination is architecturally separated and often expressed in higher-level languages or frameworks. Recently, the language of Behavior Trees gained attention among roboticists for this reason. Originally designed for computer games to model autonomous actors, Behavior Trees offer an extensible tree-based representation of missions. However, even though, several implementations of the language are in use, little is known about its usage and scope in the real world. How do behavior trees relate to traditional languages for describing behavior? How are behavior tree concepts used in applications? What are the benefits of using them?

We present a study of the key language concepts in Behavior Trees and their use in real-world robotic applications. We identify behavior tree languages and compare their semantics to the most well-known behavior modeling languages: state and activity diagrams. We mine open source repositories for robotics applications that use the language and analyze this usage. We find that Behavior Trees are a pragmatic language, not fully specified, allowing projects to extend it even for just one model. Behavior trees clearly resemble the models-at-runtime paradigm. We contribute a dataset of real-world behavior models, hoping to inspire the community to use and further develop this language, associated tools, and analysis techniques.

Mon 16 Nov
Times are displayed in time zone: Central Time (US & Canada) change

11:00 - 12:20: SLE at SPLASH-III +12h
Chair(s): Laurence TrattKing's College London
11:00 - 11:20
Talk
SLE
Lars FritscheTU Darmstadt, Germany, Jens KosiolUniversity of Marburg, Germany, Adrian MöllerTU Darmstadt, Germany, Andy SchürrTU Darmstadt, Germany, Gabriele TaentzerUniversity of Marburg, Germany
Link to publication DOI Pre-print Media Attached
11:20 - 11:40
Talk
SLE
Mikhail BarashUniversity of Bergen
Link to publication DOI Media Attached
11:40 - 12:00
Talk
SLE
Razan GhzouliChalmers University of Technology & University of Gothenburg, Thorsten BergerChalmers University of Technology, Sweden / University of Gothenburg, Sweden, Einar Broch JohnsenUniversity of Oslo, Swaib DraguleChalmers | University of Gothenburg, Andrzej WąsowskiIT University of Copenhagen, Denmark
Link to publication DOI Pre-print Media Attached
12:00 - 12:20
Talk
SLE
Nils Weidmann, Lars FritscheTU Darmstadt, Germany, Anthony AnjorinPaderborn University, Germany
Link to publication DOI Media Attached
23:00 - 00:20: SLE at SPLASH-III
Chair(s): Paddy KrishnanOracle Labs, Australia
23:00 - 23:20
Talk
SLE
Lars FritscheTU Darmstadt, Germany, Jens KosiolUniversity of Marburg, Germany, Adrian MöllerTU Darmstadt, Germany, Andy SchürrTU Darmstadt, Germany, Gabriele TaentzerUniversity of Marburg, Germany
Link to publication DOI Pre-print Media Attached
23:20 - 23:40
Talk
SLE
Mikhail BarashUniversity of Bergen
Link to publication DOI Media Attached
23:40 - 00:00
Talk
SLE
Razan GhzouliChalmers University of Technology & University of Gothenburg, Thorsten BergerChalmers University of Technology, Sweden / University of Gothenburg, Sweden, Einar Broch JohnsenUniversity of Oslo, Swaib DraguleChalmers | University of Gothenburg, Andrzej WąsowskiIT University of Copenhagen, Denmark
Link to publication DOI Pre-print Media Attached
00:00 - 00:20
Talk
SLE
Nils Weidmann, Lars FritscheTU Darmstadt, Germany, Anthony AnjorinPaderborn University, Germany
Link to publication DOI Media Attached