Behavior trees replaced finite state machines as the default architecture for high-level robot control. Here is the formalism that makes them reactive, the BehaviorTree.CPP and ROS2 Nav2 implementation, and an honest account of where BTs genuinely beat the alternatives and where they do not.
Ros2
-
Behavior Trees for Robotics -
ROS and ROS2 Explained ROS is the Linux of robotics — not an operating system in any kernel sense, but the convention-and-message-bus stack that nearly every modern robot speaks. We walk what nodes, topics, services, and actions actually are, why ROS1's central master became ROS2's distributed DDS, the build-and-launch story, and the honest learning curve before you can move a real robot with it.