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Conditional Behavior Tree Checker

Given a Conditional Behavior Tree (CBT) this program is able to check its executability... if it is valid or not.

References:

  • Conditional Behavior Trees: Definition, Executability, and Applications. E. Giunchiglia, M. Colledanchise, L. Natale and A. Tacchella. IEEE International Conference on Systems, Man and Cybernetics 2019. PDF
  • Computing the Initial Requirements in Conditioned Behavior Trees. E. Giunchiglia. 6th International Workshop on Engineering Multi-Agent Systems (EMAS 2018) PDF

Installation

Requirements

Compile

You will need the gcc compiler (with c++11 support) installed on your computer. In order to check if you have gcc installed on your machine you can issue the command: gcc --version

If the message command not found appears that it means that gcc is not installed on your machine.

External Program

In order to check the satisfiability of the propositional logic encoding, the external program limboole is needed. Follow next steps to download and compile it:

  1. limboole requires PicoSAT as backend. If you do not have it on yuor machine, follow the steps below:

    • dowload the file "picosat-965.tar.gz" that you can find at the link http://fmv.jku.at/picosat
    • decompress the downloaded file
    • rename the folder "picosat-965" to "picosat"
    • in the picosat folder execute ./configure.sh && make.

  2. Once you have PicoSAT, it is time to compile limboole:

    • go to the link http://fmv.jku.at/limboole
    • dowload the file "limboole1.1.tar.gz"
    • decompress the dowloaded file in the same folder in which the picosat folder is placed
    • in the decompressed folder (limboole1.1) execute the command ./configure.sh && make.

Compile

CMake is used to build the application.

Testing

For the testing phase the framework catch2 (https://github.com/catchorg/Catch2) was deployed.

The test created binary application must be executed from the root directory as it looks for files inside "test" directory. that is: .../cbt_checker$ ./bin/test

How to use it

Call cbt_checker created applicaiton in "/bin" with the following parameters:

  • configuration file: a file where "limboole path" is stored
  • tree: a xml file representing the tree
  • initial state: a txt file with input requirements
  • temporary directory: directory where internal files are stored
  • output directory: directory where output files are stored

First three parameters are inputs while last one is where the program generates the follwoing file:

  • cbt_valid.txt: writes as YES/NO the result of validating the CBT.

In the temporary directory the validator generates following internal files:

  • cbt_plans.txt: in this file the propositional logic representation of the CBT is written.
  • solver_results.txt: the first line of this file declares if the representation contained in cbt_plans.txt is satisfiable or not.