This is the project repository of the paper:
Zhou, H., Lin, Y. & Min, H. Backward chained behavior trees with deliberation for multi-goal tasks. Complex Intell. Syst. 11, 108 (2025).
The DOI of paper: https://doi.org/10.1007/s40747-024-01731-6

Backward Chained Behavior Trees with Deliberation, BCBT_D

The BCBT_D is developed based on https://btirai.github.io/youbot.

Run in Linux:

1. Install Dependencies:
    Open terminal:
      sudo apt-get install build-essential libgl1-mesa-dev python3-tk qtdeclarative5-dev
2. Download & install V-REP(CoppeliaSim):
    https://www.coppeliarobotics.com/previousVersions (Recommended version: 3.6.2)
3. Compile BCBT_D:
    cd BCBT_D
    mkdir build & cd build
    cmake ..
    make
4. Run V-REP:
    Open terminal:
     go to V-REP directory
     ./vrep.sh
     File->Open Scene:
     BCBT_D/object_sort_task.ttt
5. Run BCBT_D:
    Open terminal:
     cd BCBT_D/build
     ./BT
     File->Load XML
     BCBT_D/objectsort.xml
     Press play icon