Behavior Trees in Robotics and AI: An Introduction
暫譯: 機器人與人工智慧中的行為樹：入門指南

Colledanchise, Michele, Ögren, Petter

Behavior Trees in Robotics and AI: An Introduction
  • 出版商: CRC
  • 出版日期: 2020-06-30
  • 售價: $2,330
  • 貴賓價: 9.5 折 $2,214
  • 語言: 英文
  • 頁數: 206
  • 裝訂: Quality Paper - also called trade paper
  • ISBN: 0367571331
  • ISBN-13: 9780367571337
  • 相關分類: 機器人製作 Robots

    • 海外代購書籍(需單獨結帳)

相關主題

商品描述

Behavior Trees (BTs) provide a way to structure the behavior of an artificial agent such as a robot or a non-player character in a computer game. Traditional design methods, such as finite state machines, are known to produce brittle behaviors when complexity increases, making it very hard to add features without breaking existing functionality.　 BTs were created to address this very problem, and enables the creation of systems that are both modular and reactive. Behavior Trees in Robotics and AI: An Introduction provides a broad introduction as well as an in-depth exploration of the topic, and is the first comprehensive book on the use of BTs.

 

 

 

 

 

 

 

 

 

 

 

 

This book introduces the subject of BTs from simple topics, such as semantics and design principles, to complex topics, such as learning and task planning. For each topic, the authors provide a set of examples, ranging from simple illustrations to realistic complex behaviors, to enable the reader to successfully combine theory with practice.

 

 

 

 

 

 

 

 

 

Starting with an introduction to BTs, the book then describes how BTs relate to, and in many cases, generalize earlier switching structures, or control architectures. These ideas are then used as a foundation for a set of efficient and easy to use design principles. The book then presents a set of important extensions and provides a set of tools for formally analyzing these extensions using a state space formulation of BTs.

 

 

 

 

 

 

 

 

 

With the new analysis tools, the book then formalizes the descriptions of how BTs generalize earlier approaches and shows how BTs can be automatically generated using planning and learning. The final part of the book provides an extended set of tools to capture the behavior of Stochastic BTs, where the outcomes of actions are described by probabilities. These tools enable the computation of both success probabilities and time to completion.

 

 

 

 

 

 

 

 

 

This book targets a broad audience, including both students and professionals interested in modeling complex behaviors for robots, game characters, or other AI agents. Readers can choose at which depth and pace they want to learn the subject, depending on their needs and background.

 

 

商品描述(中文翻譯)

行為樹（Behavior Trees, BTs）提供了一種結構化人工代理（如機器人或電腦遊戲中的非玩家角色）行為的方法。傳統設計方法，如有限狀態機，當複雜性增加時，往往會產生脆弱的行為，使得在不破壞現有功能的情況下添加新特性變得非常困難。BTs的創建正是為了解決這個問題，並使得系統的創建既模組化又具反應性。《行為樹在機器人學和人工智慧中的應用：入門》提供了廣泛的介紹以及對該主題的深入探索，並且是第一本全面探討BTs使用的書籍。

本書從簡單的主題（如語義和設計原則）開始介紹BTs，然後逐步深入到複雜的主題（如學習和任務規劃）。對於每個主題，作者提供了一系列範例，從簡單的插圖到現實的複雜行為，幫助讀者成功地將理論與實踐相結合。

本書首先介紹BTs，然後描述BTs如何與早期的切換結構或控制架構相關，並在許多情況下進行概括。這些概念隨後作為一組高效且易於使用的設計原則的基礎。接著，本書介紹了一系列重要的擴展，並提供了一組工具，用於使用BTs的狀態空間形式進行正式分析。

利用新的分析工具，本書正式化了BTs如何概括早期方法的描述，並展示了如何使用規劃和學習自動生成BTs。本書的最後部分提供了一組擴展工具，以捕捉隨機BTs的行為，其中行動的結果由概率描述。這些工具使得計算成功概率和完成時間成為可能。

本書的目標讀者範圍廣泛，包括對機器人、遊戲角色或其他人工智慧代理的複雜行為建模感興趣的學生和專業人士。讀者可以根據自己的需求和背景選擇學習的深度和速度。

作者簡介

Michele Colledanchise is currently a postdoctoral researcher in the iCub Facility at the Italian Institute of Technology, Genoa, Italy. He received his Ph.D. degree in computer science from the Royal Institute of Technology (KTH), Stockholm, Sweden, in 2017. In the spring of 2016, he visited the Control and Dynamical Systems, Californa Institute of Technology (Caltech), Pasadena, CA. His research interests include control systems, system architectures, and automated planning, with a strong focus on robotic applications.

 

 

Petter Ögren was born in Stockholm, Sweden, in 1974. He received theM.S. degree in engineering physics and the Ph.D. degree in applied mathematics from the Royal Institute of Technology (KTH), Stockholm, Sweden, in 1998 and 2003, respectively. In the fall of 2001, he visited the Mechanical Engineering Department, Princeton University, Princeton, NJ. From 2003 to 2012 he worked as a senior scientist and deputy research director in Autonomous Systems at the Swedish Defence Research Agency (FOI). He is currently an Associate Professor at the Robotics, Perception and Learning lab (RPL) at KTH. His research interests include robot control architectures and multi-agent coordination.

 

 

作者簡介(中文翻譯)

Michele Colledanchise 目前是意大利熱那亞意大利科技研究院 (Italian Institute of Technology) iCub 設施的博士後研究員。他於 2017 年在瑞典斯德哥爾摩的皇家理工學院 (Royal Institute of Technology, KTH) 獲得計算機科學博士學位。在 2016 年春季，他曾造訪加州理工學院 (California Institute of Technology, Caltech) 的控制與動力系統 (Control and Dynamical Systems)，位於加州帕薩迪納 (Pasadena, CA)。他的研究興趣包括控制系統、系統架構和自動化規劃，特別專注於機器人應用。

Petter Ögren 於 1974 年在瑞典斯德哥爾摩出生。他於 1998 年和 2003 年分別在瑞典斯德哥爾摩的皇家理工學院 (Royal Institute of Technology, KTH) 獲得工程物理碩士學位和應用數學博士學位。在 2001 年秋季，他曾造訪普林斯頓大學 (Princeton University) 的機械工程系 (Mechanical Engineering Department)，位於新澤西州普林斯頓 (Princeton, NJ)。從 2003 年到 2012 年，他在瑞典國防研究局 (Swedish Defence Research Agency, FOI) 的自主系統 (Autonomous Systems) 擔任高級科學家和副研究主任。目前，他是 KTH 機器人、感知與學習實驗室 (Robotics, Perception and Learning lab, RPL) 的副教授。他的研究興趣包括機器人控制架構和多代理協調。

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