Behaviour Trees for Evolutionary Robotics

Understand

Evolutionary Robotics allows robots with limited sensors and processing to tackle complex tasks by means of sensory-motor coordination.

• In this paper we show the first application of the Behaviour Tree framework to a real robotic platform using the Evolutionary Robotics methodology.
• This framework is used to improve the intelligibility of the emergent robotic behaviour as compared to the traditional Neural Network formulation.
• As a result, the behaviour is easier to comprehend and manually adapt when crossing the reality gap from simulation to reality.