Controlling an apparatus with a behavior tree

A method for controlling an apparatus, wherein the apparatus is a robot, the method comprising:

• a step of using a behavior tree for tasks performed by the apparatus,
• wherein the behavior tree comprises nodes including a root node, at least one control flow node and at least one execution node and directed edges,
• wherein the nodes are connected with the directed edges,
• wherein the root node has one outgoing edge and no incoming edge, each control flow node has one incoming edge and at least one outgoing edge, and each execution node has one incoming edge and no outgoing edge,
• wherein a node having an outgoing edge is defined as a parent node in relation to another node connected to this edge, and a node having an incoming edge is defined as a child node in relation to another node connected to this edge,
• wherein the control flow nodes and the execution nodes are adapted to return different states to their parent nodes, the states including success, running, and failure;
• the steps of:
• the root node calling its child node, which is a control flow node;
• the root node's child node calling a first node;
• the first node returning a first state to the root node's child node;
• the root node's child node returning a second state to the root node;
• wherein the behavior tree comprises a planner section;
• a step of calling the planner section, wherein in response to being called, the planner section determines a state of the apparatus and sets an activation status of at least one activation section.