# On the Implementation of Behavior Trees in Robotics

arXiv: https://arxiv.org/abs/2106.15227 · HTML: https://mlsanity.com/paper/2106.15227/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 29 Jun 2021.

## Built on by (most cited first, 9 of 9)

- [LLM-MARS: Large Language Model for Behavior Tree Generation and NLP-enhanced Dialogue in Multi-Agent Robot Systems](https://mlsanity.com/paper/2312.09348/) (2023)
- [Behavior Trees in Robot Control Systems](https://mlsanity.com/paper/2203.13083/) (2022)
- [ManipDreamer: Boosting Robotic Manipulation World Model with Action Tree and Visual Guidance](https://mlsanity.com/paper/2504.16464/) (2025)
- [HARMONIC: Cognitive and Control Collaboration in Human-Robotic Teams](https://mlsanity.com/paper/2409.18047/) (2024)
- [Towards Dependable Autonomous Systems Based on Bayesian Deep Learning Components](https://mlsanity.com/paper/2301.05297/) (2023)
- [Behavior Tree-Based Task Planning for Multiple Mobile Robots using a Data Distribution Service](https://mlsanity.com/paper/2201.10918/) (2022)
- [Execution Semantics of Behavior Trees in Robotic Applications](https://mlsanity.com/paper/2408.00090/) (2024)
- [SPACE: A Python-based Simulator for Evaluating Decentralized Multi-Robot Task Allocation Algorithms](https://mlsanity.com/paper/2409.04230/) (2024)
- [HARMONIC: A Content-Centric Cognitive Robotic Architecture](https://mlsanity.com/paper/2509.13279/) (2025)

## Abstract (arXiv)

There is a growing interest in Behavior Trees (BTs) as a tool to describe and implement robot behaviors. BTs were devised in the video game industry and their adoption in robotics resulted in the development of ad-hoc libraries to design and execute BTs that fit complex robotics software architectures. While there is broad consensus on how BTs work, some characteristics rely on the implementation choices done in the specific software library used. In this letter, we outline practical aspects in the adoption of BTs and the solutions devised by the robotics community to fully exploit the advantages of BTs in real robots. We also overview the solutions proposed in open-source libraries used in robotics, we show how BTs fit in robotic software architecture, and we present a use case example.