The Behavior Tree Architecture in MoveIt Pro
This whitepaper outlines the advantages of the unique architecture available to organizations that build robotic applications with MoveIt Pro. The MoveIt Pro Developer Platform aims to enhance software maintainability, reduce development costs, and boost system autonomy through modular Behavior Trees. By breaking down complex tasks into smaller, reusable components and using Subtrees, our customers are able to simplify debugging and promote code reusability.
The MoveIt Pro approach moves hardcoded logic and debugging mechanisms from C++ nodes to the Behavior Tree level, enhancing configurability and maintenance. Leveraging MoveIt Pro’s extensive library of 170+ pre-built behaviors and templated boilerplates further streamlines development. Effective error recovery procedures within Behavior Trees enable autonomous retries and minimize operator intervention, enhancing system efficiency and reducing cycle times. This architecture ensures a scalable, maintainable architecture, preventing technical debt and fostering robust robotic solutions.
