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Behavior Trees for Robotic Systems: An Empirical Study on Practices and Experiences

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Over the last decade, behavior trees (BT) have become one of the dominant behavior models for coordinating missions of robotic systems. Yet empirical evidence on BT adoption in real-world contexts remains limited, especially regarding practitioners experiences and practices. Without practitioner-grounded evidence from both academic and industrial settings, the research community risks developing guidelines and tools that are plausible in principle but only partly aligned with real challenges. This scarcity of evidence leads to ad-hoc practices, impeding software reuse, maintenance, and evoluti

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