OASIcs.SLATE.2020.4.pdf
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BhTSL, Behavior Trees Specification and Processing
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Pedro Rangel Henriques 
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9th Symposium on Languages, Applications and Technologies (SLATE 2020)
Series: Open Access Series in Informatics (OASIcs)
Conference: Symposium on Languages, Applications and Technologies (SLATE) - License:
Creative Commons Attribution 3.0 Unported license
- Publication Date: 2020-09-16
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Miguel Oliveira, Pedro Mimoso Silva, Pedro Moura, José João Almeida, and Pedro Rangel Henriques. BhTSL, Behavior Trees Specification and Processing. In 9th Symposium on Languages, Applications and Technologies (SLATE 2020). Open Access Series in Informatics (OASIcs), Volume 83, pp. 4:1-4:13, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2020)
https://doi.org/10.4230/OASIcs.SLATE.2020.4
https://doi.org/10.4230/OASIcs.SLATE.2020.4
Abstract
In the context of game development, there is always the need for describing behaviors for various entities, whether NPCs or even the world itself. That need requires a formalism to describe properly such behaviors. As the gaming industry has been growing, many approaches were proposed. First, finite state machines were used and evolved to hierarchical state machines. As that formalism was not enough, a more powerful concept appeared. Instead of using states for describing behaviors, people started to use tasks. This concept was incorporated in behavior trees. This paper focuses in the specification and processing of Behavior Trees. A DSL designed for that purpose will be introduced. It will also be discussed a generator that produces LaTeX diagrams to document the trees, and a Python module to implement the behavior described. Additionally, a simulator will be presented. These achievements will be illustrated using a concrete game as a case study.
Subject Classification
ACM Subject Classification
- Theory of computation → Tree languages
Keywords
- Game development
- Behavior trees (BT)
- NPC
- DSL
- Code generation
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References
- Michele Colledanchise and Petter Ogren. Behavior Trees in Robotics and AI: An Introduction. Chapman & Hall/CRC Press, July 2018. URL: https://doi.org/10.1201/9780429489105.
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Epic-Games. Behavior trees, 2020. Accessed: 2020-05-21.
- Ian Millington and John Funge. Artificial Intelligence for Games. Morgan Kaufmann Publishers, January 2009. URL: https://doi.org/10.1201/9781315375229.
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Chris Simpson. Behavior trees for ai: How they work, 2014. Accessed: 2020-05-21.
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Guillem Travila Cuadrado. Behavior tree library, 2018. Universitat Politècnica de Catalunya, Bachelor Thesis.