Software frameworks for behaviour are critical in robotics as they enable the correct and efficient execution of functions. While modern behaviour systems have improved their composability, they do not focus on smooth transitions and often lack functionality. In this work, we present the Director, a novel behaviour framework that addresses these problems. It has functionality for soft transitions, multiple implementations of the same action chosen based on conditionals, and strict resource control. The system was successfully used in the 2022/2023 Virtual Season and RoboCup 2023 Bordeaux, in the Humanoid Kid Size League. It is implemented at https://github.com/NUbots/DirectorSoccer, which also contains over thirty automated tests and technical documentation on its implementation in NUClear.

翻译：行为软件框架对机器人技术至关重要，它能确保功能正确高效执行。尽管现代行为系统已提升其可组合性，但在平滑过渡方面关注不足且常缺乏功能性。本研究提出了一种新型行为框架"Director"，旨在解决上述问题。该框架具备软过渡功能、基于条件选择同一动作的多种实现方案，以及严格的资源控制机制。该系统已成功应用于2022/2023虚拟赛季及2023年波尔多RoboCup仿人少儿组联赛。其代码实现位于https://github.com/NUbots/DirectorSoccer，包含三十余项自动化测试及基于NUClear实现的完整技术文档。