A Behavior Tree Designing Tool for Online Evaluation

First presented as a tool to develop intelligent agents in computer games, Behavior Trees (BTs) are an alternative to Finite State Machines that later gained popularity in robotics, due to its modularity and how easy it makes to create intelligent reactive behaviors. Even with BTs being popular, the available tools to design it still lack features that allow validation without the end-application, whether it is a game or a robot. In this paper, a novel tool for BTs design is presented. This tool allows us to create BTs and also to evaluate then without any external software, making it easy to check all possible behaviors during the design stage. Also, the BTs created in the software can be directly used in BehaviorTree.CPP, a popular behavior tree library for robotics.