The Industry Standard for Robot Behaviors
BehaviorTree.CPP is the most popular, production-ready framework for building reactive, modular, and debuggable robot behaviors.
Used by some of the most popular robotics frameworks:
Why BehaviorTree.CPP?
Built for real-world robotics, not just demos
More scalable than State Machines
Behavior Trees enable complex behaviors with less code and more modularity, making them easier to maintain and extend, compared to traditional state machines.
Async Actions
Non-blocking actions and reactive behaviors as first-class citizens.
Modular Architecture
Build reusable building blocks, load custom nodes at runtime.
XML-Defined Trees
Separation of concerns between logic (XML) and implementation (C++).
Built-in Logging
Record, replay, and analyze state transitions for easier debugging.
ROS2 Integration
The most widely used Robot Deliberation library in the ROS2 ecosystem. The main library is ROS-agnostic, but we provide seamless ROS2 integration.