Hidden Markov Models derived from Behavior Trees

These BTs assume that units of intelligent behavior (such as decisions or units of action) can be described such that they perform a piece of an overall task/behavior, and that they can determine and return a 1-bit result indicating success or failure. These units are the leaves of BTs. The level of abstraction of BT leaves is not specified by the BT formalism and may vary from one application to another or within a single BT. But BTs are deterministic and do not have well established tools for tracking with noisy data, or parameter identification. In medical robotics, researchers are turning attention to augmentation of the purely teleoperated existing systems such as the daVinci TM surgical robotic system (Intuitive Surgical, Sunnyvale, CA) with intelligent functions [18, 19].