Behavior Trees in Action: A Study of Robotics Applications
summary
Empirical study compares three production libraries BehaviorTree.CPP, PyTrees, PyTrees-ROS and mines 75 models from 25 projects to quantify usage patterns: 59% reuse by reference, 48% clone‑and‑own, and 10 projects use file inclusion. The work extracts concrete BT features (tick frequency, sequence and fallback semantics), supplies an online appendix and mining scripts, and argues that lightweight, safer reuse (interfaces/contracts) could be feasible and worth prototyping.
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