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In recent years, the model of computation known as Behavior Trees (BT), firstdeveloped in the video game industry, has become more popular in the roboticscommunity for defining discrete behavior switching. BTs are threatening tosupplant the venerable Hierarchical Finite State Machine (HFSM) model. In thispaper we contrast BT and HFSM, pointing out some potential issues with the BTform, and advocate for a hybrid model of computation that uses both BT and HFSMin ways that leverage their individual strengths. The work introduces a newopen-source package for ROS 2 that extends the Flexible Behavior Engine(FlexBE) to enable interaction with BT-based behaviors within a HFSM in a waythat supports collaborative autonomy. Simulation and hardware demonstrationsillustrate the concepts.

Flexible Behavior Trees: In search of the mythical HFSMBTH for Collaborative Autonomy in Robotics