公开(公告)号：US20220035339A1

公开(公告)日：2022-02-03

申请号：US17148093

申请日：2021-01-13

申请人： AURORA FLIGHT SCIENCES CORPORATION, A SUBSIDIARY OF THE BOEING COMPANY

发明人： Jeffery Saunders ,  Benjamin C. Stringer

IPC分类号： G05B19/4155 ,  G05D1/02

摘要： A method is provided for causing one or more robots to execute a mission. The method includes determining a behavior tree in which the mission is modeled, and causing the one or more robots to execute the mission using the behavior tree and a leaf node library. The behavior tree is expressed as a directed tree of nodes including a switch node, a trigger node representing a selected task, and action nodes representing others of the tasks. The switch node is connected to the trigger node and the action nodes in a parent-child relationship in which the trigger node and the action nodes are children of the switch node. The trigger node is a first of the children that, when ticked by the switch node, returns an identifier of one of the action nodes to trigger the switch node to next tick the one of the action nodes.