Colledanchise and Ogden have discussed the advantages of behavior trees in their book Behavior Trees in Robotics and AI: An Introduction (arxiv 1709.00084v3 15 Jan. 2018). Advantages are said to include modularity, hierarchical organization, reusability, and reactivity. A.s.a. H. learns behavior trees similar to that of figure 1.1 from Colledanchise and Ogden’s book:
Pick and place = (Grasp ball -> Carry ball -> Drop ball)
Grasp ball = (detect ball inside grippers -> close grippers -> sense force against grippers)
Carry ball = (sense force against grippers -> move)
Drop ball = (sense force against grippers -> open grippers -> sense no force against grippers)
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