Abstract: An apparatus state data structure for controlling a technical apparatus includes at least one capability data field and at least one associated data field. Each capability data field indicates a respective functionality of the technical apparatus. Each associated data field is associated with a respective capability data field. The at least one associated data field includes at least one required component state data field and at least one required diagnostic data field. Each required component state data field indicates a configuration of a respective component required for the functionality of the capability data field associated with the respective required component state data field. Each required diagnostic data field indicates a respective operational state of a component of the technical apparatus required for the functionality of the capability data field associated with the respective required diagnostic data field.

Abstract: The present invention relates to a method for controlling a robot, the method including usage of a behavior tree architecture for tasks performed by the robot. The present invention also relates to a system comprising a data processing means adapted to carry out the method, wherein the system preferably comprises a robot. The present invention also relates to a use of a behavior tree architecture for programming, supervision, introspection and/or debugging.

Abstract: The present invention relates to a method for controlling a robot, the method including usage of a behavior tree architecture for tasks performed by the robot. The present invention also relates to a system comprising a data processing means adapted to carry out the method, wherein the system preferably comprises a robot. The present invention also relates to a use of a behavior tree architecture for programming, supervision, introspection and/or debugging.