ABSTRACT
Autonomous agents will need to be efficient, robust, and reliable in order to be used on a large scale. In this chapter, we present a mathematical framework for analyzing these properties for a BT (Section 5.1). The analysis includes efficiency (Section 5.2), in terms of execution time bounds; robustness (Section 5.2), in terms of capability to operate in large domains; and safety (Section 5.3), in terms of avoiding some particular parts of the state space. Some of the results of this chapter were previously published in the journal paper [13].
