Dynamic Delegation of Behavior Trees to Enhance Cooperation in Robot Teams

Abstract

This research introduces a novel approach to enhance cooperation among robots by collaboratively executing Behavior Trees (BTs). A new node, the DelegateActionNode, allows task delegation as subtrees, while a shared virtual memory (blackboard) enables efficient coordination. This method supports distributed behavior execution, even with potential connectivity loss. Experiments with real robots demonstrate effective virtual memory sharing, robust performance under stress, and 100% success in BT delegation. The approach shows significant potential for advancing multi-robot systems and their cooperative task capabilities.