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In this paper, we show how behaviour trees (BTs) can be used to designmodular, versatile, and robust control architectures for mission-criticalsystems. In particular, we show this in the context of autonomous underwatervehicles (AUVs). Robustness, in terms of system safety, is important sincemanual recovery of AUVs is often extremely difficult. Further more, versatilityis important to be able to execute many different kinds of missions. Finally,modularity is needed to achieve a combination of robustness and versatility, asthe complexity of a versatile systems needs to be encapsulated in modules, inorder to create a simple overall structure enabling robustness analysis. Theproposed design is illustrated using a typical AUV mission.

Improving the Modularity of AUV Control Systems using Behaviour Trees